*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 O"O""fAggregate::initialize lineCaptureHoming:InitialDive1P" "Initialize.qP""Initialize.P" 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B?i>@I>d;>CYNM?>yRADIV<)VV=V=bD^VD^1yr9%rS=ٔrӼQ-r>9tIt=vUFytz><Ez>B>BBBBBBBu;B'E|Q 5=;4~Xr?Q 9E;4~D)~YAyEܿQ IE?~J@I~# ]@GiY)Y]ƷaieU;aIii`@ @@/@II>)>I)O5.>#d,-\I?A2rm@2@h@2Vqٱ2!*> :AHRS rotation from veh to nav: [[0.694273,0.701878,-0.159224],[-0.717299,0.692900,-0.073290],[0.058886,0.165095,0.984518]]2H {7?u?waĿ`<,?$òJ&?!?`,?i2rm@I2jzc;2CY^>y^Df@Af@AbDjVDj2ye%eB=ٔmQ-m>9qI=UFy?<E>Q 5;4\r?Q 9;4)Yy%^ۿQ I%?@Io:i:;4y)ɮ-B)jAjAjAjAjIZZZZİ@ɢ)= eGi)i1;IEU EUpEUEQ"EU:*EU :VEUƓ6ZEQBEU;ae2EU;aeJEUDR;ae:EUER;aei?B: _@  @ @ /@ IY Iy O >pMj,76I?A2-@2@2;ٱ2= ^AHRS rotation from veh to nav: [[0.632714,0.774118,-0.020363],[-0.774360,0.632261,-0.024753],[-0.006287,0.031430,0.999486]]2H1??? ڔ@{;?Xoy ?`?i2-@I2`1b;2CYj)>yjDym> ףp=ʿL7A`?x&1?mQm+>mA>i i9m/$ſI +?5^I ?Ym,ym9mBmB mB)mBiYmkBbDVD!y=%%1=ٔ%>Q-%>9)I)=-UFy)m;Eu>qQ 5};4ur?Q 9};4ul)us Q E;y @Q I?u!@IuC:iun:u;4yɮBjAjjjjZ;>Z;>Z-@Z@ɢA)M> MVGiI)IMMIiM2R i߹ I߹ 6q,nI?A2@2V@2-=ٱ2n& :AHRS rotation from veh to nav: [[0.591615,0.791146,0.155173],[-0.805105,0.589872,0.062103],[-0.042400,-0.161672,0.985933]]2H?@Q?? k yN|D PPTVAbDZVDZ:2yn@<%rw=ٔr=Q-r?9tIt=vUFytv#Ev ?xQ 5=;4zr?Q 9=;4z)z=YAyE7?Q IE?z=%@Izz% ]RGiY)Y]yYi]."Ei  Em Em REi "Ei *Em T:VEm A{6ZEi BEm K;a} 2Em L;a} JEm ը;a} :Em ը;a} _w,$I?AYn%>ynD vp9I=UFyE>Q 5;4mr?Q 9;4&)l>YyQ I?)@I#},TI?ADD<E EvEUE"E:*E:VE}6ZEa@a@a@a@>@>@>N<ٱ>p JAHRS rotation from veh to nav: [[0.613436,0.761498,0.209324],[-0.789373,0.599342,0.132964],[-0.024205,-0.246799,0.968764]]>H E?@1^? ?`B-??`:ɘ Ͽ?i>@I>d;>CAPAPBV>BVCBVDBV#>BV=BTBVDBV;BVmEYn*>yn8DbDzVDzJyEV<%MN=ٔM;Q-M>9IIQ=UUFyQUي=EU>Q 5<4r?Q 9<4-)>Yy?Q I?.@II:iw:"<4yɮBj j j j jZiZiZiZmmK@ɢ) UGi)i^<I:=]_@Y @Y@]b4@YIIOi>q,fJ?AN0@N+@NnܼٱNe ^AHRS rotation from veh to nav: [[0.619141,0.781122,0.080703],[-0.784817,0.611972,0.097741],[0.026960,-0.123853,0.991934]]NH@???7E??R?״?iN0@INb;NCYv2>yvDbDVDyeA<%eH=ٔmyQ-m>9iIi=uUFyqu<Eu>Q 5<4qr?Q 9<4N)>Yy[?Q I?3@I[:i1:c<4yɮBj)j)j)j)j)ZZZZ;Ƀ@ɢ)C> MGi)顥ɸix<IbE|6jE‘6rEŽ3E= E=uE=iE9"E=:*E=:VE=6ZE9BE=U,Q,J?Af@fಫ@f6ٱf= AHRS rotation from veh to nav: [[0.607124,0.794203,-0.025337],[-0.793356,0.607648,0.036737],[0.044573,-0.002203,0.999004]]fH m?j?@,cq?<Ϣ?@DҦ? b?if@If;b;fCY-`>y-O Ey1ZdۿMb?t 9X9v翋l?S?Y=y>>B(B FB)1BYWBbDuVDuy=%)=ٔQ-%>9)I)=-UFy)-zE5>1Q 5=<45r?Q 9=<45)52?YP?Q E:y@Q I?5uK@I5%ZM>ZMD@ZML @ɢ) Gi)顥三i<II>)>E= E=E=ZE9"E=g:*E=i:VE=ـ6ZE9aM@aM@aM@aM@B>BBDBw>BBBB;B0EBaBeCBaBaBaCe]55A:====~> @  @ @ /@ I I O% >,KYFJ?A2@2@2):ٱ2= :AHRS rotation from veh to nav: [[0.592278,0.803940,-0.053741],[-0.805733,0.590838,-0.041304],[-0.001453,0.067764,0.997700]]2H@?߹?탫 $?`%WX? )?i2@I2b;2CYRG>yRDbD^VD^1yfߥ%f=ٔjw>Q-j?9hIh=jUFyhnEn?pQ 5v<4r"{r?Q 9v<4rF)r/?Yxyz:@Q Iz?rY@Ir9:ir1:r+<4y|ɮ~Bjjjjj9ZQZQZQZUs @ɢ) > 8Gi)額iw<I:1@1 @1@5/@1EU  EU oEU VEQ "EU a:*EU :VEU z~6ZEQ BEU |;a] 2EU ~;a] JEU N;a] :EU N;ae A OAI I O >,U4`J?A2@2o@2Vyٱ2jo= :AHRS rotation from veh to nav: [[0.566725,0.821944,-0.056833],[-0.823766,0.566554,-0.020643],[0.015231,0.058516,0.998170]]2H"?^M?+J\5!?@r#1???i2@I2b;2CYNE,>yRD TTTVAbDZVDZ2yv%vH=ٔv'Q-v>9z>Iz>=zUFyzpDzME~>9Q 5E<4=pr?Q 9M<4=)=O?YIyM@Q IM?=m@I=:i=F:=0:<4yUbBɮU ByjjjjjZZZZ_ @ɢ)u> SGi) iN<I:i@i @i@mY0@i AAA0AIIOg>) E hAY 9 hAY SAE]  E] tE] ZEY "E] :*E] v:VE] ـ6ZEY ae @ae @am @am @^,BCBzDBJ=B=BBDB5;BzE>D@>?@>ٱ> j< JAHRS rotation from veh to nav: [[0.542926,0.837127,-0.066709],[-0.834779,0.546644,0.065760],[0.091516,0.019985,0.995603]]>H_??`~?@հ?m?v??i>D@I>%a;>CYV'>yViDiZbD5VD51y%%?=ٔ37Q->9?I?=UFyxDxE>Q 5<4er?Q 9<4)h?Yyr?Q I?[@I2;i:H<4ydBɮBqEj j j jjZIZIZIZM@ɢ)= XGi)顅i\G<I]~:1@1 @1@5w3@1A}AIIO>,J?AJ7@Jݨ@JItٱJH VAHRS rotation from veh to nav: [[0.532709,0.846078,0.019302],[-0.841080,0.526758,0.122921],[0.093834,-0.081716,0.992229]]JH ?@?Ó?!4?w?y?R봿`V?iJ7@IJVa;JCYb>ybSDbDnVDnNyv%vV=ٔvǻQ-v>9z??Iz??=zUFyzDE>!Q 5-<4%\r?Q 9-<4%Q)%[~?Y)y-?Q I-?% @I%:i%z:%MV<4yYɮ]"BYjqjqjqjqjZZZZ@ɢ)> |Gi)"i#<Ip}:E% E%rE%NE!"E%ҝ:*E%?:VE%x6ZE!BE%;a-2E%;a-JE%Y;a5:E%Y;a5@ @@4@IIOe>,ͭJ?A:oJ@:=E@:J2ٱ:c FAHRS rotation from veh to nav: [[0.571146,0.814904,0.098606],[-0.819691,0.559833,0.121215],[0.043576,-0.150058,0.987716]]:HF??8>?:'?? 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R?s?I??@?I?z8_?i2?פ@I29k`;2CYB/>yB5DbDJVDJyR<%RN=ٔVa=Q-V>9TIX=ZVFyZDZ½EZ>Q 5 ?4kq?Q 9%?4o)n?Y!y%ÿQ I%?FAI;i;B?4y1ɮ5B1jjjjj=%=ZqZqZqZu*4@IɢY)u&>v> uPGiy)yi.=E EE?E"Eҝ:*E0:VEk6ZEa@a@a@a@IUY#:yԩ = :i> \@  @ @ /@ A!I)IAOM?.N,yBDy V-?"~jy&1|? > S `;  9 d;O? rh?ClӿY >y C< ;  B fB)  B Y uBbD% VD%2y5E%==ٔ=bQ-=>99IA=EVFyEDEH=EE>ԩIQ 5?4MDuq?Q 9?4M)MJ?Y>Q E:y)xQ I?MIAIM¯B1B5 EB5_>B5=B1B1B1B5EZU>ZU>ZU?ZU>ɢi)m6Gi> miGii)iqqiuWu=qIy&":.o>E EvE7E"E:*E:VEe6ZEBE;a2E;aJEh;a :Eh;a MY@I @I@Mo0@I A.AIIO>i I 1 kU,VQ?A6Z@6MU@6d;ٱ6ڽ BAHRS rotation from veh to nav: [[0.646800,0.760903,0.051731],[-0.761281,0.640068,0.103745],[0.045828,-0.106485,0.993258]]6H`? QY?|?j\p{? ?v?B@?i6Z@I6k`;6CYJ#>yJDbDR VDR:2yZ/=%ZT=ٔ^&=Q-^>9^ ?I^ ?=bVFybDbJ<Eb>dQ 5j?4f|q?Q 9j?4f)f,?Yhyn(iQ In?fLAIf:if;fRb?4ypɮrBpj|j|j|jjZ!Z!Z!Z%#6?ɢ1)5> 5\Gi9)999i=PM=AIA :ABv>q@q @q@u_0@qyE  E wE 2E "E :*E :VE |a6ZE a @a @a @a @A AI I O >ԙ /[,pQ?AVΨ@V@VD<ٱV> fAHRS rotation from veh to nav: [[0.630754,0.774755,0.043636],[-0.775890,0.630550,0.020030],[-0.011997,-0.046491,0.998847]]VH "/??xW?@@v-?? ͧ`?iVΨ@IV}`;TYr88>yrDbD VD y%B=%-C=ٔ5M >Q-5>95c?I5c?==VFy=D=SE=>AQ 5M?4Esq?Q 9M?4E)E ?YQyUaQ IU?EwNAIE:iE$:Ep?4yYɮ]BajqjqjqjyjyZZZZK[?ɢ) > GGi)项ip>IyU:~>%_@! @!@%/@!ԡA؟AIIO>B5<A5<B9B9B=EB=s>B9B9B9B=;B=ڣEI I E%  E% nE% :E! "E% :*E% :VE% g6ZE! BE% ;a- 2E% ;a- JE% J;a- :E% J;a5 }b,qQ?A2a@2\@2ٱ2=K :AHRS rotation from veh to nav: [[0.647895,0.761489,0.019159],[-0.761182,0.646270,0.054203],[0.028893,-0.049702,0.998346]]2H? ^?`?[`=?@?"?~rs?i2a@I2SH`;2CYN9>yRYDbDZVDZ0yr@%vN=ٔvӽQ-v>9z"?Iz"?=zVFyzDz=j=E~>|Q 5?4~Mq?Q 9 ?4~p)~>Y y \Q I ?~PAI~:i~p:~~?4yɮ BjjjjjZIZIZIZMǩC?ɢy)|> bGi)顁i>I:[>1 ]@  @ @ 4@ A I I O >Y Vh,dQ?A@@wٱ %AHRS rotation from veh to nav: [[0.636898,0.770702,0.019463],[-0.768579,0.632761,0.094335],[0.060389,-0.075040,0.995350]]Hxa???3??T&?C?5?i@I1a`;CYU%>y]DbEU¸f6jEU§h6rEU[H2E ExE<E"E1:*E:VEi6ZEa@a@a@a@!y5{GzbX9ȶ?-?5#5E=5?>1 195Fx?{GzĿ{Gz?Y5K>y5#5>5B5B 59I=VFyDǼE>!Q 5-?4%ڌq?Q 9-?4%u)%--?Y-W?Q E-:y5Q I5?%RAI%:i%:%?4yYɮ]BYjjjjjZ>Z>ZF@Z9*@ɢ) ZGi) ib>!I)Q%:y - p{>Ա _@  @ @ 2@ B5>B5CB5DB5 A>B1B1B1B5;B5EBBBBͬ=BC75AAI I!O-?q,CSQ?AB]@B*@B5RٱBA JAHRS rotation from veh to nav: [[0.629832,0.773206,0.073915],[-0.775036,0.619320,0.125549],[0.051298,-0.136362,0.989330]]BH'?@??`@x??C?Mt?iB]@IBD3`;BCYb$=ybDbDjVDjβyi%B=ٔð9%?I%?=VFyDE>Q 5?4q?Q 9?4)_?Yy鲿Q I?SAI`;i;L?4yɮBE~ EpEBE"E:*E :VE^n6ZEBE;a 2E;a JEDR;a :EER;aj)j)j)j)j)ZiZiZiZm^^@ɢ) Gi)顡iZQ>IuC:uuqq9i @  @ @ 4@ A I I O% >w,Q?A0>P@>K@> ٱ>( FAHRS rotation from veh to nav: [[0.643924,0.762118,0.067361],[-0.759692,0.626460,0.174400],[0.090715,-0.163474,0.982368]]>H?Ec?>?`fO ?`R?9?Ŀ`o?i>P@I>Q`;9 I = VFy ɲD^=E>Q 5=?4:q?Q 9E?4])D?YAyEˮQ IE?UAI;i!;?4yIɮU"BQjjjjj]%=]4=ZZZZؓ@ɢ)6q> Gi)项i[>Iԉ,:E5 E5uE5QE1"E5:*E5:VE5sz6ZE1a=@a=@a=@a=@[@ @@/@ԹA,AIIO>  cG 1 D},Q?A2@2~@2Nٱ2( :AHRS rotation from veh to nav: [[0.647313,0.761183,0.039819],[-0.754115,0.631953,0.178735],[0.110887,-0.145725,0.983091]]2H@ʶ? [?@c?@!8??c? ¿{u?i2@I27`;2C`Ynp>ynߢDbDvVDvN2 "Կ9 Y Ay%G=%%H=ٔ%KQ-%>9->(?I->(?=-VFy-ѲD-z<E5>1Q 5]?45q?Q 9e?455)5}?YayeQ Ie?5%VAI5C;i5:5ڻ?4ym[BɮuBumEjjjjjB*** querying acoustic contact ***i iZZZZ޲@ɢ) %{Gi!)!!!i%H >)I)IU>)U>:B>BCBDB">B=BBBw;B+Em2Acoustic response timeoutuQuerying Benthos address 50 with one ping in standard two-way mode._@ @@/@!A-.AI9IIOU>D]%=D]=Ee EeoEeEEa"Ee:*Ee:VEep6ZEaBEe7;au2Ee9;auJEeN;au:EeN;auA ,vR?A@2L@2G@2yRPDb(DAT read: user:12> fBDAT read: Tx time:03:55:51.3810 f$Ping request sent.fQ- >9  ?I  ?= VFy ٲDÉE>Q 5?4֑q?Q 9?4_)?Y!y%FQ I%?WAI:iF:?4y)ɮ-B)jAjAjAjIjIZZZZ>@ɢ)m > mwGiq)qqqiu: >yIyIMR:@ @@!0@yA5AIQchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.253147IO>ԡ Ee  Ee qEe AEa "Ee a:*Ee $ :VEe m6ZEa am @am @am @am @,-R?A:@:@:ٱ:y/ BAHRS rotation from veh to nav: [[0.637705,0.760787,0.120557],[-0.770083,0.626148,0.122109],[0.017413,-0.170709,0.985168]]:H@h?_X?ܾ?f ?@B?ԑ?ſ ~?i:@I:u`;:CYZ&>yZDGa> 9ʡE?S㥫nѿY=y/]VBB B)jBYkBbD VDf2yix=%.=ٔM=Q-M>9Mc?IUc?=UVFyUDUE]>YQ 5e?4]ݐq?Q 9e?4])]w?YmB>Q Em4;ymhQ Im?]rXAI]:i]:]?4checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503071yɮBjjjjjZ-?Z-?Z-mZ@Z-;@ɢY)Y ]YGiY)aaaie >iIiq-:ԙ ޜ{>I ) eAB B B DB =B B B DB ;B wE  P@  @ @ /@ A! zA! M >M D@U checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756146A .AI! I1 O= >qR,EIR?AB6@B}1@BG=ٱBX JAHRS rotation from veh to nav: [[0.643745,0.752735,0.137774],[-0.764433,0.640821,0.070637],[-0.035118,-0.150791,0.987942]]BH ?g?? =v?A? !Mÿ7?iB6@IB7@`;BCYfU>yfEE~ E~rE~0E|"E~:*E~?:VE~_6ZE|BE~;a2E~;a JE~Y;a :E~Y;a  15AAbDEVDE:yI=%O=ٔ >Q->9 ?I ?=VFyD:<E>Q 5?4q?Q 9?4 )?YyQ I?+YAI:i:[?4yMZBɮMBMlEjajajajajZZZZ)5@ɢy) *Gi)顭is>I:]X>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007159_@ @@4@A I I O% >9 x,cR?A;ɰp;2̦@2vǭ@2k ٱ2 " :AHRS rotation from veh to nav: [[0.658035,0.746745,0.096752],[-0.752983,0.652159,0.087780],[0.002451,-0.130615,0.991430]]2H@?`V?ĸ?o|?x? d?˹?i2̦@I2:`;2CYNiY>yREbDZVDZ:yf<%fZ=ٔf̽Q-f>9hIh=jVFyjDnG=En>Q 5?4bq?Q 9 ?40)U?Y y ڿQ I ?YAI:i:W?4y%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259038!ɮBjjjjjQZiZiZiZmd7@ɢ)  &Gi)Ei+>IE EnEGE"E:*E:VEer6ZEa%@a%@a%@a%@-:QqMƂ>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511768 \@  @ @ \1@ ԡ A I! I1 O= >Ζ,0}R?AJ @J؃@JK_ٱJ VAHRS rotation from veh to nav: [[0.650828,0.757335,0.053546],[-0.757260,0.642454,0.117516],[0.054598,-0.117031,0.991626]]JH`?yn,EbDvVDvNy]=%]C=ٔ]Q-]>9aIa=eVFyeDeHEm>ԑiQ 5@4m0q?Q 9@4m)m??YyοQ I?mZAIiimB:m@4yVBɮ֑BvEjBA<B>BBDB,>BBBDB;BNEjjjjZ)Z)Z)Z-9@ɢ9)9 =Fi9)AEɷAiE+>IMchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763478Թ:E5 E5vE5JE1"E51:*E5:VE5t6ZE1BE5;aE2E5;aEJE5h;aE:E5h;aE @o> a>i >} P@y  @y @} 4@y A >A ?  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015673A AI I O >,R?A2i@26@2w.<ٱ2 NAHRS rotation from veh to nav: [[0.612947,0.782939,0.106312],[-0.790052,0.609134,0.069087],[-0.010667,-0.126338,0.991930]]2HC?` ?@7?H~??؅@+?i2i@I2W`;2CYfM>yf7DbDrVDr1y A%B=ٔ >Q->9c?Ic?=VFyD8E%>)IQ 5U@4MNq?Q 9U@4M)M%i?YQyUQ I]?M[AIMF:iMt:M@4yaɮB!j1j1j1j9j9ZZZZh2@ɢ) 2Gi)i8>II=#?)=3?:Qߕ?ߕ<checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270983ԑY @Y  @Y @] /@Y E  E qE BE "E :*E $ :VE ^n6ZE a @a @a @a @Ա A .AI I O >,iR?AZX@ZqS@Z=ٱZq rAHRS rotation from veh to nav: [[0.622780,0.773452,0.117968],[-0.781586,0.621885,0.048812],[-0.035608,-0.122601,0.991817]]ZH@??3?` {??@E;b?iZX@IZI`;ZCYz.>yzDԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519104yK7A?I +?v/ >94<xi 9v?yt 0BpB B)ЍBYBbD VD2y-p%--=ٔ5X=Q-5>95 ?I= ?==VFy= D=Y<E=>AQ 5m@4Eq?Q 9m@4E[)EU?YuR>Q Eu ;yuTQ Iu?E]AIE;iEW;E#@4yyɮ}Bj1j1j1j1j1ZuE>ZuE>Zu@Zuun@ɢ) QGi)顭ViZ>IX :5O@1 @1@1@1B>BBDBM>B=BBB;BEII O > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7710559 ,)@>}$@>H<ٱ>'߽ FAHRS rotation from veh to nav: [[0.642755,0.759764,0.098109],[-0.765720,0.641052,0.052210],[-0.023226,-0.108682,0.993805]]>H@r? O??ƀ~?@?ȗ һ@?i>)@I>_;>CYR=yR)D TVAXZAbD^VD^yET%Ep=ٔMQ-M?9IIQ=UVFyUDU==EU?yQ 5@4}q?Q 9@4})}G?YyɻQ I?}?_AI}a?yI7 : BDAT read: Rx Time:03:55:53.9894 TRx dataTimestamp_ set to:1761537355.356676checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024968AZ@ @@/@II O>iԙ w,R?A6checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2750806@6 @6=^Wٱ6> BAHRS rotation from veh to nav: [[0.639541,0.765764,0.067778],[-0.766959,0.629533,0.124352],[0.052556,-0.131511,0.989921]]6H@w?"? Y?`!%?@տ??V n?i6@I6`;6CYF>yJDJ8Not Powering down - fast GPS)JINiNNNNNR R)RIRiRRRVV VbDZVDZ:2yf<%fS=ٔf:HQ-f>9hIh=jVFyjDj En>pQ 5v@4rq?Q 9v@4r)r:?YtyvºQ Iv?raAIr:ir:r}<@4yzXBɮ~B~wEjjjjjZZZZ?s@ɢ!)! %xGi!))-?)i->1IQy5 :bEp6jEEq6rE2E} EyE}EEy"E}ҝ:*EyVE}p6ZEya@a@a@a@\@ @@4@IqIԡO=>DAT read: Range 11 to 50 : 153.1 m (Round-trip 204.2 ms) speed 0.0 m/s %X#Rx 1: Read range message, but no direction.yYC >,xR?Aɰ;2@2Ւ@2޽ٱ2/> :AHRS rotation from veh to nav: [[0.625494,0.776477,0.076430],[-0.772647,0.602814,0.199075],[0.108504,-0.183573,0.976999]]2H ?`? 䐳? AJ?I{?ƻ?Tǿ C?i2@I2=`;2CYBS=yBDbDJVDJN2yV#%VL=ٔVQ-V>9XIX=ZVFyZ#D^E^>`Q 5f@4bq?Q 9f@4b;)b2.?Ydyf⽿Q If?bcAIb :ib:bxJ@4ylɮnBljxjxjxjxjxZZZZs@ɢ!)-|> -Gi)))-)i->1I1AAAAB>BBDB=BBBDB;BEBqBqBqBu=Bu=Cu2 55 : R@  @ @ E2@ IIO>E EsE@E"E:*EZ:VEl6ZEBEZ;a2E[;aJE0];a:E0];a) j&,S?A$:a@:.@:yٱ:VK BAHRS rotation from veh to nav: [[0.610791,0.783525,0.114122],[-0.788670,0.589243,0.175478],[0.070246,-0.197185,0.977846]]:H`? ?7?`<`?v?? Y=ɿJ?i:a@I:l`;8YJ>yJcDIN=)N4=R=R=bDVVDV1y^f=%^I=ٔb=Q-b>9`Id=fVFyf+DfFYEf>hQ 5r@4j}q?Q 9r@4j)jk!?Ypyrg¿Q Ir?jeAIj/;ij;jX@4yxɮzBxj j j j j Z)Z)Z)Z->Tq@ɢa)e > eqGii)imiimq>qIqF:IeA)ԁM]@I @I@M/@IIIO%+>ԱE  E {E ?E "E :*E 5":VE k6ZE a @a @a @a @ P,e3S?AIV>)V>`Y~.>y~Dysh|??K7ѿ~jt> 9㥛 ?jtԿL7A`пY>yĠ+7B ęB)BY=BbDVDy=%9=ٔQ->9I=VFy4DE>Q 5 @4q?Q 9 @4)?Y ?Q E :y ͿQ I ? iAI:i:#h@4yɮBj1j1 ek>eCGjj 9Y%8Aj)ZM=X>ZM=X>ZM-{@ZM@ɢy)y QGi)顅Ii7>I:V@ @@!@!IIOa>1B>BBBB=BBB;BEA 8,MMS?A@E& E&zE&WE$"E&g:*E& :VE&H6ZE$BE&;a*2E&;a*JE&v;a.:E&v;a.B@Bu@BŽٱBk JAHRS rotation from veh to nav: [[0.648635,0.761098,-0.001611],[-0.754967,0.643675,0.125332],[0.096426,-0.080079,0.992114]]BH?Z?tcZ@(`? ?h? d?iB@IBװ`;BCYRF>yRp!EbD^VD^fyfn>%f_=ٔfQ-f>9hIh=jVFyj;Dj >En>pQ 5r@4rq?Q 9v@4rU)r>YtyvQ Iv?rFlAIrB:ir|:rt@4yxɮ~ԑB|YjjjjjZAZAZAZE(@ɢy)y Fi)顅i>Iml:ԉ>Թ- O@)  @) @) @) A} ؟AI I O >b,]gS?A"="%=61@6,@6ٱ6V< BAHRS rotation from veh to nav: [[0.642362,0.764671,-0.051476],[-0.763691,0.644289,0.040840],[0.064394,0.013078,0.997839]]6H:?`.x? 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Lk?` ?i2:t@I2Tm`;2CYv>yv(EIz<)z~=~=bDVDyE.<%MJ=ٔM;Q-M>9M ?IU ?=UVFyUDUGEu>yQ 5A4}q?Q 9A4}O)}ߗ?YyӶQ I?}AI}:i}t:}˵A4yɮˑBjjjjjZ Z Z Z Z)@ɢA)Ew> EF i)Ʒi` 8>I!-9I5fA)5fAIe>)e>R@ @@\2@AA- ֧AI1 IA OU >i k,4U?A@:U}@:#x@:]ٱ: NAHRS rotation from veh to nav: [[0.635503,0.770919,-0.042658],[-0.741571,0.624827,0.244262],[0.214960,-0.123596,0.968771]]:H` V?]?@4ץ ?@C?@΃?@+?i:U}@I:I`;:CEb EbEbHE`"Eba:*Eb=:VEb3s6ZE`af@af@af@af@Yj2r>yjEyX9v~jt?-?=5^> 9RQ?EȿJ +?YB>yFH>BB B)(BYBbD5VD50y~%2=ٔ9*?I*?=VFy D=L;E=>AiQ 5A4 l>ƐCEq?Q 9A4EJR)E?Yv>GQ E;y  ߿Q I ?hAEA)ÿ9hAYϱAIE=EA4yRBɮّBEjjjjjZ>Z>Z]@Zj@ɢQ)Q U GiQ)Y]Yi]:R9>aIiM`9ԡ B >B CB B B =B B DB ;B Ea _@  @ @ 0@ A-AI1IAOe>s,U?AԱE EsEEE"E:*EZ:VEp6ZEBE;a2E;aJE0];a:E0];a$@@3ٱ AHRS rotation from veh to nav: [[0.593193,0.802530,-0.063782],[-0.754172,0.581671,0.304768],[0.281686,-0.132683,0.950289]]Hn?`S?T-" ?@Q?"? h?i$@IX`;Yr>yh0E !!bDMVDMy]=%]5=ٔeQ-e>9e%?Ie%?=VFy DM EM>QQ 5]A4Uq?Q 9]A4UT)U?YYy]NQ I]?UAIU9:iU:UA4yɮÑBjjjjjZZZZ^@ɢ)No> Fi)Oi*:>I#9i߉I߉  ^@  @ @ 4@ 9 A I I! 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(?@'{?@ ??HO?i2t@I2,J`;0A@ABAABF>BDBF EBF?BF=BDBDBF[;BFEY^.>yba9III=MVFyMDU =EU>YQ 5eA4]q?Q 9eA4]X)]?YayeQ Im?]ÛAI]:i]:]wA4yqɮuBqjjjjjԙZZZZ@ɢ) Fi)ig;>I}9]@ @@/@A؟AE EmEAE"E:*E:VEm6ZEBE7;a 2E9;a JEYG;a:EYG;aII)Omy> n,b,V?A2g@2a@2Hٱ2 :AHRS rotation from veh to nav: [[0.612686,0.775356,-0.153098],[-0.718897,0.627232,0.299611],[0.328333,-0.073506,0.941697]]2H`??ÿ4H?,? j?KѲb"?i2g@I2 `;2CYB>yBtCEIF<)F=bDNVDN0yV<%VU=ٔV_;Q-V>9Z"?IZ"?=ZVFyZ$DZM=E^>`Q 5bA4bq?Q 9fA4bZ)bX?YdyfQ If?bhAIb :ib:bA4yhɮnBljxjxjxjxjxZZZZ@ɢ))) 5Fi1)15 1i5;>I.9V@ @@0@)AI IO-p>QE  E tE KE "E :*E v:VE u6ZE a @a @a @a @y ޛ,f9V?A2>%@2 @2pٱ2o" :AHRS rotation from veh to nav: [[0.579998,0.793847,-0.182782],[-0.737338,0.606979,0.296494],[0.346316,-0.037193,0.937380]]2HW?1g?@ieǿF`_l?`? *? ?i2>%@I2`;0YB>yBRWEy y&1㥛 ? `e >   9 Zd;ϿX9vuV?Y yy  rh> :B -B  B) ~B Y B!%@AbD% VD%2y5Ø=%=A=ٔ=8Q-=>99IA=EVFyE-DE1EE>IQ 5UB4MAq?Q 9UB4MX)MY?Y]^>Q E];y]@Q I]?MtAIM ;iM ;M B4yeQBɮeBmEjjjjjZ%>Z%>Z%@Z%G@QɢY)]e> ]FiY)Ye@˸aied<>aIiI>)>mۺ9yB}>B}CB}EB}"?ByByB}DB};B}kE >ԩ% _@!  @! @% /@) Au ,AI I O > ,~RV?AB>գ@B Ъ@B}ھٱBx JAHRS rotation from veh to nav: [[0.533000,0.823850,-0.192827],[-0.737965,0.564122,0.370369],[0.413907,-0.055107,0.908650]]BHU?\?`ȿhJ ? "?@s}? 7`?iB>գ@IB*a;@YR)>yVzbED`zDb@AEd EfuEf8Ed"Ed*Ef:VEfQf6ZEdBEfZ;aj2Ef[;ajJEfwd;aj:Efxd;anbD^VD^ yr8=%vP=ٔvv>Q-v>9z>(?Iz>(?=zVFyz5DzսEz>|Q 5B4~q?Q 9 B4~U)~?Y y  @Q I ?~sAI~:i~9:~hB4yɮBj)j)j)j1j1ZIZIZIZMB@ɢa)e.L> eFia)im|㸉iim<>iIqԱ9>8{>%^@! @!@-4@)AqIyIO> 9 ,lV?AFCd@F_@FņݾٱF*V VAHRS rotation from veh to nav: [[0.521354,0.843760,-0.127511],[-0.743224,0.522401,0.417990],[0.419295,-0.123151,0.899458]]FH?@?JR}?X??`Ԇ\?iFCd@IFOa;FCYb->yb~EbDjVDj:yrC=%rJ=ٔvoQ-v>9tIt=zVFyz=Dz^ Ez>|Q 5B4~lq?Q 9B4~R)~6?Y y  @Q I ?~zAI|i~:~)B4yɮBj)j)j)j1j1ZYZYZYZ]R>@ɢ) aFi)i6=>I! %H9E EwEIE"E:*E:VEt6ZEa@a@a@a@4e>]@ @@g1@1AAII O>Y ,V?ABABBBEBk4?B=BBB;BE Zt@Zo@ZgžٱZ>DN fAHRS rotation from veh to nav: [[0.533544,0.844356,-0.048937],[-0.757316,0.502703,0.416847],[0.376568,-0.185345,0.907658]]ZH ? ?D@;%???dǿ ?iZt@IZs`;XYn>ynzEbDv VDv2y~ <%~I=ٔ=Q->9c?Ic?= VFy ED ;E >Q 5B4q?Q 9B4O)p?Y!y%@Q I%?~AIw;i;7B4y-RBɮ-B-EjAjAjAjIjIZaZaZaZe <@ɢy)}f> }^Fiy)y顅5Hi=>I fAu9}fA}fA iԙe>E EzE@E"Eغ:*E :VEl6ZEBE,sV?A22@2@2qžٱ2 [ :AHRS rotation from veh to nav: [[0.535303,0.843726,-0.039713],[-0.755838,0.499469,0.423367],[0.377042,-0.196613,0.905087]]2H3!? ?MU/M?r?s!?`*ɿy?i22@I2a;2CYB>yBlEbDJVDJܲPyV2%VP=ٔZ]Q-Z>9Z ?IZ ?=ZVFyZMD^;E>Q 5%B4 q?Q 9-B4M)?Y)y-M@Q I-?AI:i_:EB4y1ɮ5B9jIjIjQjQjQZiZiZiZm[<@ɢ) Fi)額ȷi->>I9uwf>- \@)  @) @- /@) E  E qE ;E "E :*E $ :VE h6ZE a @a @a @a @! A ,AI I O >,NV?A2@2 @2ٱ2J" :AHRS rotation from veh to nav: [[0.509257,0.853117,-0.113350],[-0.742123,0.502008,0.444118],[0.435788,-0.142051,0.888769]]2H@K?L?yxs?pl??@.¿ p?i2@I2n`;2CY^>yb,qEId)f=|yuV?Kr?^ 9Cl?㥛 Zd;OY;_>y~JB VB)BYpBbDVDy<%;=ٔQ->9>(?I>(?=VFyWD E>Q 5B4q?Q 9B4DS)?YR?Q E:y~Q I?oAI:i; ;TB4yQBɮBEjjjjjZ 5wFi1)9=9i=0`>>AIAV9nManaging dock network, ignoring radio surface power off)B%>B%CB%EB%5F?B%=B!B%DB%Y;B%EBCBCBBŭ=Bŭ=C(5Y@ @@@ԁ A AI) I9 OE >߽ %=߽ =δ,*V?AbE-q6jE-q6rE-2ER ERtER]EP"ERa:*ERv:VER6ZEPBER|;aZ2ER};aZJER`;a^:ER`;a^Y~9>y~EbDVDy%G>%%T=ٔ%Q-%>9-c?I-c?=-VFy-^D-E5>1Q 5=B45q?Q 9EB45X)5?YAyAQ IE?5/AI5];i5j;5@bB4yIɮUsBQYjijijijijqZ Z Z Z ɢA)A ECFiA)AEIiM^>>IIQI>)>M9ԉ[@ @@00@A1I9IQO]v>Ա R,%V?A> Ρ@>Ȩ@>O=ٱ>Ir FAHRS rotation from veh to nav: [[0.480460,0.871281,-0.100143],[-0.762716,0.471475,0.442692],[0.432923,-0.136315,0.891064]]>Hڿ??`+h,?`U??r ?i> Ρ@I>`;>CYR>yREbDdVDdyv-=%vN=ٔv-9xI|=~VFy~fDɽE> Q 5%B4 q?Q 9%B4 ^) ?Y!y%Q I%? AI ^R;i  ^; 1pB4y9ɮ=jB9jajijijijiZZZZ8n@Թɢ)mR> 2Fi)?Ei>>Im9E ErEQE"Eҝ:*E?:VEsz6ZEa@a@a@a@%_@! @!@%4@!G evĿ9aYeAA5AI9IQOY9 A A @AB% >B! B% FB% _?B% =B! B! B% #;B% E,GW?A2ԝ@2@2+ٱ2c' >AHRS rotation from veh to nav: [[0.473731,0.875867,-0.091842],[-0.761959,0.459931,0.455941],[0.441585,-0.146014,0.885258]]2H`Q?@?ao?@$.? B?¿ T?i2ԝ@I2V`;2CYF>yFύE HHbDVDy % H=ٔ Q->9%?I%?=VFynDmE%>!Q 5-B4%bq?Q 9-B4%d)%?Y1y5ЯQ I5?%بAI%:i%N:%l~B4y9ɮAAjQjYjYjYjYZyZyZyZ}Hr@ɢ) i)顕5Ʒi?>Ie9i@i @i@m3@iAA.AE EwE6E"E1:*E:VEd6ZEBE;a2E;aJEk;a:Ek;aIIO5q>iԙ ,*!W?A2"ˢ@2ũ@2ٱ2mT :AHRS rotation from veh to nav: [[0.503998,0.861242,-0.065178],[-0.747834,0.472895,0.465955],[0.432123,-0.186098,0.882404]]2H ?K?@BC?5?@?ǿ@yBߚEbDJVDJN2yRM=%VQ=ٔVb9V ?IZ ?=ZVFyZvDZ=EZ>\Q 5bB4^q?Q 9bB4^rj)^F?YdyfQ If?^AI^-:i^:^B4yhɮjUBpjyjjjjyZZZZZn@ AAɢ1)9 =FiA)imqiuZ?>I9ԡg>E  E mE =E "E a:*E :VE Xj6ZE a @a @a @a @I @I  @Q @U 0@Q IY Ii O} >H,6;W?Aɰ;2a@2[@2Uٱ2(H :AHRS rotation from veh to nav: [[0.517817,0.851421,-0.083354],[-0.738796,0.494181,0.458221],[0.431331,-0.175693,0.884921]]2H?>?V6@? }S??}ƿFQ?i2a@I2@`;0YB?yB٦Ey K7A`?~jth?uV? +? D; rh>  9 Q? +ֿQY H?y ȶ u ȴB tB B) 4yB Y BbD%VD%0y5s=%5?=ٔ=;Q-=>99IA=EVFyEDE/=EE>IQ 5B4Mq?Q 9B4M?s)Ml?YL]?Q Eu:yQ I?MXAIMZ-7>Z-ڠ@Z-p@ɢ9)9 EEiA)AEDAiE-?>IIIԱa 8setting remote address to 509^>B>BBFB}v?B=BBB;;BEQ@Q @Q@U/@YIIIaOm> } (DAT read: user:13>  TDAT read: RemoteAddr | 50  0set remote address to 50 (entering online mode1 2-,FUW?AEB EBwEB8E@"EB:*EB:VEBQf6ZE@BEB;aJ2EB;aJJE@aJ:E@aNY^?yEI=)=bD-VD-yE64>%E;=ٔEQ-E>9III=MVFyMDMEU>qQ 5}B4uq?Q 9B4uX|)u)?YyQ I?u#AIu$:iu:ulB4yRBɮBjjjjjZ)Z)Z)Z)ɢ9)A EEiA)AEAiM/?>IIQ P99iI(DAT read: user:14> 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_VERIFY5`R>i ^@  @ @ @ I) I9 OE >Z,QoW?ARQ@R@RٱR) rAHRS rotation from veh to nav: [[0.453616,0.873490,-0.176770],[-0.756003,0.482187,0.442668],[0.471902,-0.067162,0.879089]]RH ? ?@jƿ-1(?@T?3?@1!?iRQ@IR"`;RCYz*?yz@EbD VD fy8!>%S=ٔQ->9I=VFyD;E>Q 5B4Dq?Q 9B4R)?Yy6Q I?AI:;iV:ͷB4yɮBjAjAjAjAjII>)>ZZZZ@ɢ1)5k3B> 5TEi9)999i=b?>AEm EmmEm;Ei"Em:*Em:VEmh6ZEiau@au@au@au@yIy}9ԑ _@  @ @ /@ Ia Iq O} >B >B CB p-FB ?B B B B Q;B E?,+lW?A2Aנ@2ҧ@2;ٱ2o :AHRS rotation from veh to nav: [[0.442057,0.885869,-0.140790],[-0.751017,0.451356,0.481924],[0.490468,-0.107302,0.864828]]2H@J? Y?h¿ U@??c?&x`?i2Aנ@I2+`;2CYN8?yNNE\bDZVDZ1y >% W=ٔ cQ- >9I=VFyDSE>yQ 5B4}q?Q 9B4}b)}?Yy¿Q I?}AI}p:i}:}B4yɮBjjjjjZ Z Z Z @ɢ!)! %Ei!)!!)i-@>)I1Ζ9@ @@0@I IO%,>E ErEFE"E*E?:VEq6ZEBE7;a2E9;aJEY;a:EY;aA Di,sGW?ABC-@B(@B ٱBVNB JAHRS rotation from veh to nav: [[0.447169,0.889718,-0.091876],[-0.741776,0.426278,0.517742],[0.499809,-0.163366,0.850589]]BHi?x?2 !H? W?`?1Ŀ@8?iBC-@IBX`;BCYbC?ybuEbDVDk2!yM=%UF=ٔepԼQ-e>9iIq==VFy=DM<EM>Q 5B4q?Q 9B4I)7?Yy¿Q I?AIB1IIe[91@1 @9@=V0@9AE>AE>qA AI I O >E  E E GE "E :*E VE er6ZE a @a @a @a @ԡ G,"W?A6@6ˑ@6Yٱ64[ >AHRS rotation from veh to nav: [[0.455293,0.886825,-0.079054],[-0.733668,0.423997,0.530998],[0.504421,-0.183760,0.843678]]6H#?@`?<4z"??6$?uǿ@h?i6@I6/`;6CYR>R?yRFFyy}?5^I?y&1|ˡE?M>`'= 9K7?mͿ?Y ?yn>B_B B)]oBYBbDVD\y >%]B=ٔ] HQ-]>9ec?Iec?=eVFyeDm=Em>Q 5B4q?Q 9B4˙)?Yv?Q E:yQ I?AI:iU:B4yɮBjjjjjZ%u>Z%u>Z%>@Z%@ɢQ)Q ]DiY)YYYi]@>aIaiߩIߩ ))ԩ9BM>BIBMPCFBMў?BIBIBMDBM ;BMEy@y @y@}4@yAIIO > ){,HW?A2O@2@2?ٱ2K@ :AHRS rotation from veh to nav: [[0.455203,0.884794,-0.099653],[-0.736264,0.436981,0.516684],[0.500705,-0.161825,0.850357]]2H "?:P?Ղy ?ଈ??Ŀ6?i2O@I2QX`;0D<zD>AAEB EBqEB9E@"EBC:*EB$ :VEBg6ZE@BEBK;aJ2EBL;aJJEBU;aJ:EBU;aJYg?yhFbD5VD5NyEC]>%ET=ٔM>9IIQ=UVFyUDUkEU>yQ 5B4}q?Q 9B4})}E?YyNQ I?}dAI} :i}:}B4yɮBjjjjjZ Z Z Z @ɢA)A EaDiA)AIIiMe@>IIˍ95ܢS>5A @  @ @ 4@ a A I I) O5 >,ZW?A^6@^@^=ٱ^H3 fAHRS rotation from veh to nav: [[0.458694,0.881166,-0.114654],[-0.732502,0.448001,0.512578],[0.503032,-0.151132,0.850951]]^H?[?2?Y p@ ?` g?`?KXÿ:?i^6@I^3`;^CY~Pv?y~tFbDVDk2y>%G=ٔ/ֻQ->9I=VFyDc<E>Q 5B4q?Q 9B4)~@YyQ I?ӻAIF:i:HB4yɮeBj!j!j!j!j)QZiZiZiZmD@ɢ) &Di)顡i^?>IIE EnE@E"Ea:*E:VEl6ZEa@a@a@a@ 94K>y]^@Y @Y@]/@YԩAIIO>Be >Ba Be aFBe ?Ba Ba Be DBe ;Be EB%CB%CB!B!B!C%4 , X?A2zI@2HD@2/8 ٱ2& :AHRS rotation from veh to nav: [[0.465848,0.872993,-0.144459],[-0.715403,0.467658,0.519128],[0.520753,-0.138488,0.842400]]2Ht?@?}¿ ??`??i2zI@I2B`;2CYFDž?yJ$FbDR VDR:2y^P_>%^W=ٔ^^Q-^>9`I`=bVFybDf>=Ef>xQ 5~C4zq?Q 9~C4z)z @Y|y~_Q I?z"AIz:iz:z C4y)ɮ-:B)jAjAjAjAjAZIZIZIZMb@ԁɢ)6> Ci)顱i?>II?)>M9ԱbEōk6jEl6rE/2E EqEDE"E:*E$ :VEo6ZEBE7;a2E9;aJEa:Ea}B> \@  @ @ /@ AA IQ Ii O >? ,%X?A{r@Im@ٱE AHRS rotation from veh to nav: [[0.466287,0.867565,-0.172939],[-0.708298,0.483258,0.514563],[0.529991,-0.117441,0.839832]]H`??"ƿa?@Lw???i{r@I9`;CY[?y-FQyy&1?V-Zd;O?`=hj<= 9 rh?Sÿ+?Yl>yv>*BB EB)4yBYzBbD5VD5yU=%U=ٔUդQ-U>9YIY=eVFyeɴD<E>)Q 5=C4-q?Q 9=C4-)-@Ye'>Q Ee:ye*Q Ie?-AI-;i-];-+C4yqɮuBqԁjjjjjZX>ZX>Z?@Z$@ɢY)Y ]CiY)aaaie`?>iIiUȄ9]p=]=hDAT read: Forwarding Delay UpTx time:03:56:15.9799 In parseResponses, sent ack so set commsState_ = SENDING_VERIFIEDIn sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER56>ԩE  E rE 8E "E s:*E ?:VE Qf6ZE a% @a% @a% @a% @ y } ѐC Y@  @ @ @ G- (hA9 u ѿ9u (hAYu Ay ? A A I I O > ,`t?X?Abk@bf@bVٱb jAHRS rotation from veh to nav: [[0.464185,0.864643,-0.192160],[-0.706354,0.492256,0.508673],[0.534413,-0.100385,0.839241]]bH4?@'?ȿ`s ?@ G?@?ܲ?ibk@Ibb`;bCY>?y>F  bD=VD=1yMb>%M=ٔM Q-U?9QIQ=uVFyuϴD}6:E}?Q 5C4Jq?Q 9C4)#@Yy*Q I?нAI[:it:(C4yɮBjqjyjyjyjyZZZZs(@ɢ) &Ci)ii?>Ia % 9    BiBiBm }FBm?BiBiBiBm;BmE) M ^@I  @I @M /@I C=A] .AIa Iq O >E=  E= }E= KE9 "E= :*E= k&:VE= u6ZE9 BE= ;aM 2E= ;aM JE= ˀ;aM :E= ˀ;aU u,IYX?A 2d@22@2[ٱ2g >AHRS rotation from veh to nav: [[0.468452,0.861012,-0.198019],[-0.689039,0.496337,0.528086],[0.552973,-0.110940,0.825781]]2H?h?@Xɿ @???f`l?i2d@I2`;0YFo?yFGFbD%VD%y5>%5L=ٔ58bQ-5>9] ?I] ?=]VFy]״De =Ee>iQ 5uC4mq?Q 9uC4mi)m/@Yqyu1Q I?m$AIm;;im;m6C4yɮȏBjjjjjZZZZ!3$@ɢ))-,> -Bi1 qu@A)iRv?>Iq49`@ @@4@ԙAIIO> 1,&sX?Aɰp;2ಣ@2@26ٱ2, :AHRS rotation from veh to nav: [[0.475741,0.854024,-0.210508],[-0.664544,0.505775,0.550066],[0.576239,-0.121798,0.808155]]2H@r?)T?@ʿ`CO/?`$?@p?!.f?i2ಣ@I2`;2CLY^?y^WFbDjVDjky >% M=ٔ ːQ- >9I=VFyߴD{=E>Q 5C4q?Q 9C4)w;@Yy8Q I?yAI:i4:UEC4yPBɮBEjjjjjZZZZ~ @ɢA)A MBiI)IIIiM)?>qIyE EuE9E"E1:*E:VEg6ZEa@a@a@a@-y9@ @@4@A5؟AIQIaOm>! 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ܿ+ۿ???H=?꼿|?i2*@I2S}_;2CYbs>Ayb7GIf<)fp=bDlVDlyv:>%v_=ٔz9xIx=zWFyz7D~ۂ<E~>Q 5 G4s?Q 9 G4Π)AY y$Q I?BI:i:-G4yɮtBj1j1j1j1j9ZQZQZQZU@@ɢ) ci)iW>I_@ @@4@A>A>AA!I)I9OMR>u=u%=yE] } E] rE] EY "E] ݉:*E] ?:VE] O6ZEY BE] h;am 2E] j;am JE] Y;am :E] Y;am ԙ V,Ɏ_?A6#7@61@6r.ٱ6Y BAHRS rotation from veh to nav: [[0.645542,0.629180,-0.432906],[-0.431842,0.768232,0.472581],[0.629911,-0.118124,0.767632]]6HH?@="?༴ۿ`Lۿ`Z?`>?`:(?_=q?i6#7@I6x_;6CYF@AyJTGbDRVDRܲyZ+>%ZN=ٔZ9\I\=bWFyb?DbOy;Eb>dQ 5jG4fIs?Q 9jG4f)f;AYlyn$Q In?fYBIf;if@;f;G4ypɮrOtBpj|j|j|jjZZZZ_@@ɢ1)1 5i1)119i=Bz>9IAqT@ @@/@I->)->AE.AIIIaOm5>ԡ E]  E] uE] EY "E] :*E] :VE] (N6ZEY am @am @am @am @I, `?A2<@27@2o-ٱ2<" VAHRS rotation from veh to nav: [[0.647464,0.630938,-0.427443],[-0.432460,0.766006,0.475619],[0.627510,-0.123094,0.768816]]2H?0? :[ۿmۿ?@p?@?@%?i2<@I2}_;0Y^QCAy^4GbDjVDj:ynH>%rF=ٔr/;Q-r>9v ?Iv ?=vWFyvGDvH:Ez>xQ 5~G4zs?Q 9G4z)zAYy$Q I?zBIz;iz;z6JG4yɮsBj)j)j)j)j)ZIZIZIZMq@@ɢY)Y ]+iY)aaaiem>iIiԹ!@! @!@!@!AAB9>BӏCBGBGABBBB;BEAm؟AIqIO:> h,|B#`?AB5?@B:@B5,ٱB' JAHRS rotation from veh to nav: [[0.649308,0.632470,-0.422351],[-0.433436,0.764068,0.477842],[0.624926,-0.127205,0.770251]]BH!?@2=?ۿiۿ?s?@?d?>H@?iB5?@IBn_;BCYVFAyVGbDnVDnNy >%:=ٔC;Q-%>9-"?I-"?=5WFy5PDe:Ee>E EnEE"Ea:*E:VEP6ZEBE|;a%2E};a%JEJ;a%:EJ;a-1Q 5=G45ߨs?Q 9EG45')5kAYAyE$Q IE?5BI5:i5:5ZG4QyiɮusBqjjjjjZZZZ@@ɢ) yi)iY>I)I9)9X@ @@@AfAzAfAyA1I9IIO]>ԩ ,=`?A2<@2R7@2+ٱ2B* :AHRS rotation from veh to nav: [[0.651090,0.633564,-0.417946],[-0.434935,0.762714,0.478642],[0.622023,-0.129860,0.772155]]2H@?'F?ڿۿ (h??`??~?i2<@I2y_;2C@YFHAyFGyOn?Q{Gz8?uף 9> ףp=?A`"V-Y1?yٽ-B C)7PBYpBbD-VD-y}>%}T=ٔT9I=WFyXDdE>Q 5G4s?Q 9G42)kAYi6?Q E:yyJQ I?BI;i; gG4yEBɮWrBEjjjjj ZEl=ZEl=ZEU@ZE@ɢq)y }iy)yyyi}H>I 11ԩU@ @@/@E- E-oE-#E)"E-C:*E-:VE-gU6ZE)a=@a=@a=@a=@A.AIIOj>B 6>B B GB $NAB =B B B ;B E! z,V`?Aɰ4<::@:4@: *ٱ:M/ BAHRS rotation from veh to nav: [[0.652916,0.635453,-0.412190],[-0.436444,0.760403,0.480941],[0.619046,-0.134117,0.773819]]:H?U?Qaڿۿ9U?@?8?*?i::@I:v_;:CYV=KAyVGbD^VD^:yf>%fV=ٔf5#9j ?Ij ?=jWFyj`Dn7REn>pQ 5vG4rs?Q 9vG4r)rAYtyvJQ Iz?rBIr:iry:r`tG4y~CBɮqBEjjjj!j!Z9Z9Z9Z=]Ó@ɢI)Q U0iQ)QQQi]w}>YIa V@  @ @ ?0@ 1AAIIIYOm5>QE5  E5 mE5 E1 "E5 1:*E5 :VE5 ?6ZE1 BE5 ;a= 2E5 ;a= JE5 XG;aE :E5 YG;aE ԉ Ȥ,Mp`?A26@2\1@2)ٱ2L1 :AHRS rotation from veh to nav: [[0.654545,0.636276,-0.408317],[-0.437932,0.759345,0.481259],[0.616268,-0.136191,0.775672]]2H ?_\?!ڿ ܿL? ?v?`n`M?i26@I2ܔ_;2CYBMAyBGHHbDNVDNyVL>%VL=ٔV9XIX=ZWFyZhD^PE^>Q 5 G4s?Q 9 G4V)AY y JQ I ?BI:i:G4yBBɮ=qB=EjQjQjQjQjQYZZZZ'@ɢ) i)顱i>IM_@Q @Q@U5@QԑA؟AIIOA>Ա E= | E= sE= E9 "E= :*E= Z:VE= :6ZE9 aM @aM @aM @aM @",N`?A2f0@25+@2KB)ٱ2. :AHRS rotation from veh to nav: [[0.655661,0.635143,-0.408292],[-0.439392,0.760709,0.477763],[0.614039,-0.133850,0.777843]]2H@,?S?u!ڿܿW?? 5?!?i2f0@I2x_;2CYBPAyB:HbDNVDNyR>%VJ=ٔV@;Q-V>9Z"?IZ"?=ZWFyZpDZEZ>`Q 5bG4bs?Q 9fG4b)bAYdyfJQ If?bBIb:ib:bwG4yhɮncpBljxj|j|jjԹZZZZ⌓@ɢ) i)iь> I I5>)5>@ @@4@BAB">BяCBHBTAB=BBDB;BޟEAI IO%N>9 (,?`?A,,YmSAyH!ytV?MbX9ʡE??ʡ-2> 9^I +?%+=E EpEE"E*E :VE*16ZEBEF;a2EG;aJEDR;a :EDR;a ٔ Q->9I=WFyzDE>Q 5G4Es?Q 9G4)~"AY#??Q E:y;VQ I?BIN;iJK;ۡG4yɮoBjjjjjZ=3>Z=3>Z= @Z=0f@ɢY)Y ]$iY)aaiim >qIqA9@A @A@E4@AAIIYIiiO}>ԙ n.,e`?A:E.@:)@:(ٱ:ޱ& FAHRS rotation from veh to nav: [[0.656879,0.631933,-0.411303],[-0.440456,0.764350,0.470922],[0.611971,-0.128178,0.780424]]:H'?@8?Rڿ`m0ܿu?#?D?!h@IIIQq@ @@/@AE.AIIIYOm5>ԡEz EsEE"El:*EZ:VE6ZEa@a@a@a@B >B ̏CB HB *[AB B B DB ;B EBUӏCBUяCBUɖCBQBQCU05 5,B`?A22@2-@2(ٱ2u$ >AHRS rotation from veh to nav: [[0.657085,0.630619,-0.412989],[-0.440068,0.765719,0.469057],[0.612029,-0.126467,0.780658]]2H?.?gnڿ@*ܿŀ???@0%?i22@I2C~_;0YfXAyf`HbDrVDryvc>%zG=ٔz9~ ?I~ ?=~WFy~D@:E> Q 5 G4 t?Q 9G4 ) (AYyVQ I? ABI l:i : #G4y!ɮ%InB!j1j9j9j9j9ZYZYZYZ]֊@ɢi)i miq)qqqiu7>yIyR@ @@/@ 11A!I)I9OM1>D zD E y E iE E "E :*E 9VE 6ZE BE ߤ;a% 2E ;a% JE 8;a% :E 8;a% ) Q 6;,'`?Aɰ2J=@28@2(ٱ2! >AHRS rotation from veh to nav: [[0.657289,0.628573,-0.415772],[-0.438986,0.767760,0.466729],[0.612586,-0.124258,0.780576]]2H?E?ڿXܿ}??N?XϿy?i2J=@I2_;2CY^O[Ay^HbDfVDf:yn~>%nK=ٔrQ-r>9pIp=rWFyrDvP;Ev>xQ 5UG4zbt?Q 9]G4z)z_,AYYy]iVQ I]?zBIzdbI1MZ@I @I@U/@QM>9IYMCAA؟AIIOH>Yԁ bE?=6jE46rEv4E v E gE E "E Vz:*E &9VE 5ZE a- @a- @a- @a- @B,{ a?A0J!W@JQ@J4(ٱJIm ^AHRS rotation from veh to nav: [[0.658434,0.624879,-0.419514],[-0.436753,0.771170,0.463189],[0.612953,-0.121755,0.780682]]JH@?`?Qڿۿk? ?P?`Y+X?iJ!W@IJ<_;JCYj^AyjHbDzVDzFy O>% G=ٔQ->9"?I%"?=%WFy%D->;E->1Q 5EG45.t?Q 9EG45)5/AYIyMUQ IM?5BI5;i52 ;5G4yU>BɮUlBUEjjjjjB*** querying acoustic contact ***i iZ)Z)Z)Z-@ɢY)a exia)aaaimG>iIqA1A5AABE>BEŏCBE HBEaABE=BEDBEDBEu;BEEԑP@ @@0@A>A>2Acoustic response timeoutԹAIIOn>-*entering command mode ]I,%a?A`e)@e|@e(ٱe AHRS rotation from veh to nav: [[0.660779,0.618906,-0.424649],[-0.433328,0.776512,0.457445],[0.612861,-0.118258,0.781292]]eH%??@t-ۿۿ`/? F?@? %FW?ie)@Ie_;eCY`Ay7 HDAT read: (DAT read: user:15> 2Acoustic response timeout6setting remote address to 0D4=Dp=E{ EfEE"E=:*E9VEn5ZEBE#;a2E%;aJE-;a:E-;aI->))y5'1Z?X9v? rh?5>5}=5C<1 195v/?v//$?Y5x>y5xi5&1>5B5B 5>B)5NB1Y5aBbDUVDUk2y>%=ٔl9Q->9I=WFyD7&<E>Q 5G4#t?Q 9G4C)3AYh>Q E:y3Q I?mBI;i;G4yɮLlBjjjjjZm[I>Zm[I>ZmHG@ZmU@ɢ) i)顉i>I5Q@1 @1@50@1A .A (DAT read: user:15>  TDAT read: RemoteAddr | 0  .set remote address to 0 2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.I I 9 OE >/O,?a?A@2t@2C@2G(ٱ2 :AHRS rotation from veh to nav: [[0.664295,0.612134,-0.428958],[-0.428905,0.782163,0.451953],[0.612170,-0.116248,0.782134]]2HA??@ tۿ.sۿz? ?@?i½@>?i2t@I2ܨ_;2CYzcAyz HbDVDy(?%=ٔE;Q-?9% ?I% ?=%WFy%D%<E-?)Q 55G4-O(t?Q 9=G4-{)-n5AY9y=62Q I=?-BI-;i-;-G4yIɮMkBIjajajajajaZZZZhV@ɢ)  i)顙ii>I5^@1 @1@54@1I (DAT read: user:16> BDAT read: Tx time:03:56:52.2311 $Ping request sent.qB5 9>B5 CB5 HB5 XhAB5 =B5 DB5 ׻DB5 R;B5 Eԡ V,PYa?A2checking for new query: numPingsReceived=0, elapsed TxPingTime=0.2507776b@61@69(ٱ6LY BAHRS rotation from veh to nav: [[0.669007,0.604994,-0.431754],[-0.423443,0.787647,0.447559],[0.610840,-0.116597,0.783122]]6Hh?@\?ܡۿۿ@g4?`ͤ??Kٽ U?i6b@I6+_;6CYJeAyJi HbDR VDR2yZ>%ZQ=ٔZ;Q-^>9^"?I^"?=^WFybDb<Eb>dQ 5jH4f.t?Q 9jH4f")f8AYhyj/Q In?fBIf;ifY!;fvH4ypɮvjBtj|jjjjZaZaZaZe'I5R@1 @1@5/@1A=gAzA=gAԡA}.AIIO=><checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503073Ec EZEvE"Eg5:*Ea9VE-5ZEBE?;a 2E?;a JE/;a :E0;a %nG=ٔr;Q-r>9r ?Ir ?=rWFyrDv<Ev>xQ 5~H4z5t?Q 9H4z)z:AYy,Q I?zBIz ;iz:zH4y ɮrjBEj!j)j)j)j)ZIZIZIZMNW@ɢY)Y ] ia)aaaie>iIiP@ @@@ AAmchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754935A=؟AIAIQOe4>)% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007257Q Y*c,Fa?A$ɰ&;f3@f@f&ٱf En^ EnKEnVEl"EnC#:*En]t9VEnFA5ZElar@ar@ar@ar@ vAHRS rotation from veh to nav: [[0.681106,0.590274,-0.433211],[-0.411011,0.797886,0.440963],[0.605942,-0.122288,0.786054]]fH??@ۿNڿH?8?c?BNZ'?if3@If_;fCY~kAy~HbD VD y%>%%F=ٔ% 9-"?I-"?=-WFy-·D57<E5>9Q 5EH4=I1BAB>BCBHBnAB=BBλDB;B EmY@i @i@i@iaAIIOE>}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258779ԉԹ EVi,)a?A@@p%ٱQ! AHRS rotation from veh to nav: [[0.688314,0.581953,-0.433075],[-0.404456,0.803474,0.436858],[0.602196,-0.125535,0.788417]]H`?\?@ۿٿ?@z?0E?:?i@IK_;Y-XmAy-Hy(\?L7A`?Mbz4?+= 9Fx??`"Y>yL=B̄B B)LBYBchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510953bDVDβyӦ>%>=ٔ339I=WFy˷D<E>Q 5 H4It?Q 9 H4)>AY >Q E :yQ I?BIP ;i ;:-H4yɮ&iBj1j1j1j1j9ԑZw>Zw>ZE@ZMr"@ɢY)Y ] iaE_ EHEUE"E&:*E[9VE >5ZEBE&;a2E&;aJEV:a:EW:a)a项i>I]W@Y @Y@Y@YAm>Am>ԹAIIO> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762800 :p,+a?A2=z@2 u@2[#ٱ2L" :AHRS rotation from veh to nav: [[0.696281,0.571606,-0.434119],[-0.397645,0.810710,0.429683],[0.597554,-0.126555,0.791778]]2H@G?@J?ۿsٿ V??)?@2?V?i2=z@I2_;0Y^oAybHbDjVDjk2yr>%r]=ٔr9tIt=vWFyvҷDz=Ez>|Q 5H4~Tt?Q 9H4~()~W?AYyQ I ?~7BI~;i~:~$:H4y=BɮhBjjjjjZZZZA#@ɢ)  i)iN>I I5>)1\@ @@0@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015854A!I9IIO]T>E}b E}JE}SEy"E}1:*E}k9VE}75ZEya@a@a@a@B>BCB}HBtAB=B DBDB;BEI @ev, a?A&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266799$:@:ܸ@:IR"ٱ: FAHRS rotation from veh to nav: [[0.704580,0.559849,-0.436046],[-0.390637,0.818988,0.420311],[0.592427,-0.125806,0.795741]]:H? I?`-ۿ3ٿ&5?@^?)?@mv?i:@I:x_;8YJqAyJHbDVVDVyZs>%^M=ٔ^9`I`=bWFybڷDf =Ef>hQ 5jH4j`t?Q 9nH4j)j0@AYlyn۾Q In?jBIjw;ijr;jHH4ytɮvhBtjjjjjZ!Z!Z!Z%$@ɢ1)1 5 i9)999i=>AIAX@ @@4@iA!I)I9OM0>ԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518816EM X EM EEM KEI "EM ~ :*EM A9VEM 5ZEI BEM :a] 2EM :a] JEM W:a] :EM W:a] |,6a?A6D@6?@6 ٱ6 BAHRS rotation from veh to nav: [[0.712587,0.546866,-0.439496],[-0.383898,0.828263,0.408169],[0.587232,-0.122134,0.800151]]6H ?? ܿʑؿ`"?@o?`?/D֚?i6D@I6S_;6CYJTtAyJ=HP Rp%^J=ٔb[9`I`=bWFyfDf<Ef>hQ 5nH4j9mt?Q 9nH4j)j AAYpyrԾQ Ir?j~BIj#;ij@;j4VH4ytɮvegBtjjjjj Z!Z!Z!Z%$@ɢ1)9 = i9)99AiE>AIIP@ @@/@]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771208A .AII!O5->!  BDAT read: Rx Time:03:56:54.8303  TRx dataTimestamp_ set to:1761537416.184598 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024954EU W EU REU XEQ "EU :*EU 9VEU G5ZEQ ae @ae @ae @ae @k~,vb?A2 @2ٖ@2ٱ2j :AHRS rotation from veh to nav: [[0.719788,0.534051,-0.443503],[-0.377957,0.837368,0.394922],[0.582284,-0.116635,0.804576]]2H ??@[bܿ@q0ؿ? eF??۽@?i2 @I2x_;0YnvAynHtbDzVDzy>%E=ٔp9  ?I  ?=WFyD<E>Q 5%H4zt?Q 9%H4N)AAY!y-EξQ I-?(BI;i ;dH4y5IAiAiBu>BuyCBuHBuszABu=Bu!DBuDBu;Bu>EB=«CB=£CB=±CB=¸=B=»=C=f%7 !!EZ@A @A@E/@AA؟AIIO?>Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274788Iq ,v(b?AF4<ɰDY@[۹@8ٱ\V DAT read: 03:56:54.8303 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 314, 0.05,-2.339, 1.874, 2.560,-3.070, PHS= 0.833,-1.294,-0.697, RAW= 105.8, 12.2, CAL= 107.3, 14.0, ROT= 42.7, -14.0 Ygot valid direction response: 03:56:54.8303 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 314, 0.05,-2.339, 1.874, 2.560,-3.070, PHS= 0.833,-1.294,-0.697, RAW= 105.8, 12.2, CAL= 107.3, 14.0, ROT= 42.7, -14.0 %PDAT read: Bearing 202.4, 66.5 (Local) %~Local bearing/azimuth received: Bearing 202.4, 66.5 (Local) =AHRS rotation from veh to nav: [[0.725472,0.523440,-0.446880],[-0.373235,0.844741,0.383547],[0.578261,-0.111461,0.808202]]H7??ܿ׿???`?i@I_;]DAT read: Range 11 to 50 : 146.3 m (Round-trip 195.1 ms) speed 0.3 m/s eR#Rx 1: Read range and direction messages.Y}xAy}HEe[ EeGEeLEa"Eea:*EeR9VEe!5ZEaBEe ;au2Ee ;auJEet:au:Eet:au\direction in FSK: [0.713084,0.658015,0.241922]Fpublishing direction and range infoy'?7_v?79K?YLC )FI}?U?iˡn2^ Z>? 5z>)>?I5z$S?|-#οh? })OYI>?i5zԁy5q= ףp?L7A`尿{Gz?5K?5+5ף<1 195#~j?A`"y&1̿Y5%?y5Y5`e5B5B 5B)5IB1Y5BbDm VDm2yFv>%=ٔ49"?I"?=WFyDw<E>Q 5H4Zt?Q 9H4)CAY 0?Q E:yQ I?BI;i; xH4y;BɮMfBEj!j!j!j!j!ii ,b?AJijCRijCjiu>bgvZ@ X@O A@R'?7_v?79K?Zi>?bi5zj {v'[@BlL@yS@ZL?/7z?i}z?2i`B:iB"i1嘊?*i#%BiBZ>Z>ZjC@Z# @ɢ)  i)i >Il>i>ԩm]@q @y@}q4@y E k>E ֐C 3G  Tſ9 Y rAA .A I I O >[,aBb?A2@2 @2ٱ2@ :AHRS rotation from veh to nav: [[0.729795,0.513785,-0.451026],[-0.369794,0.851536,0.371670],[0.575023,-0.104457,0.811441]]2H@{Z? p? ܿ׿??s?f?@S?i2@I2r_;2CYB{AyBHIF=)Fp<bDNVDNβyVjJ?%V=ٔVX1I9ԩV@ @@/@A؟AIIO )>bEũ?5jEʼni5rE 4EW EEEKE"E :*EA9VE5ZEa@a@a@a@Bm{>BmkCBmlHBmABm=Bm"DBmDBm;BmE) &,\b?A:4@:/@:ٱ: FAHRS rotation from veh to nav: [[0.732772,0.506189,-0.454773],[-0.367502,0.856856,0.361579],[0.572703,-0.097825,0.813905]]:Hr?`2?`ݿ%׿^k?@$?@S?@ @ ?i:4@I:ӯ_;:CYJ}AyNHbDVVDVN2y^W>%^J=ٔb;Q-b>9b"?Ib"?=bWFyfDf'<Ef>hQ 5nH4jJt?Q 9nH4j)jEAYpyrQ Ir?jR!BIj;ijn;jH4ytɮv0eBtjjjj j Z!Z!Z!Z%@ɢ9)9 =i9)AAAiEf >AIIX@ @@-0@I5>)1IIO$>AqDzDAAE\ EAEOE"E:*E 9VE*5ZEBE;a2E;aJE:a:E:aԙ @ݜ,ub?A@2J@2D@2`ٱ2b :AHRS rotation from veh to nav: [[0.734784,0.501287,-0.456952],[-0.366139,0.860217,0.354922],[0.570995,-0.093483,0.815614]]2HX? ?>ݿn׿?@ ?E??i2J@I2d_;2CYBAyB)H J;JbDNVDNyV>%VK=ٔVթ;Q-V>9XIX=ZWFyZ DZ;E^>!Q 5%H4%t?Q 9-H4%)%FAY)y-Q I-?%j"BI%:i%M:%%H4y58Bɮ=dB=)EjQjQjQjQjQZqZqZqZuO@ɢ) i)顉i >IqY@ @@93@IIO (>ԡE Y E BE GE "E :*E (9VE 5ZE a @a @a @a @ ţ,Џb?A2&R@2L@2&ٱ2 :AHRS rotation from veh to nav: [[0.735995,0.498462,-0.458091],[-0.365832,0.862194,0.350412],[0.569630,-0.090317,0.816923]]2H E?@?@]Qݿi׿ ?&m?i:? <$?i2&R@I2|_;0YB̀AyBfH DDbDNVDNfyV^>%VJ=ٔV;Q-V>9XIX=ZWFyZD^ ;E^>`Q 5fH4bt?Q 9fH4b)b%HAYdyfQ If?bs#BIb:ib[:bתH4ylɮn dBn*EjxjxjxjxjxZZZZc@ɢ) i)顉i >IBAp<B%>B%]CB% HB%AB%=B%#DB%DB%;B%CEM^@Q @Q@U4@QIIO>) ,Ob?A2O@2cJ@2ٱ2޽ :AHRS rotation from veh to nav: [[0.736389,0.498026,-0.457931],[-0.366316,0.862556,0.349013],[0.568808,-0.089262,0.817612]]2H?@?Nݿq׿?@9V?3?ٶ)?i2O@I2u_;2CYBAyFHyEQ?l񲿚?EU?EE=A A9Ekt?SÿX9vYE P?yEE}EBEz|B EB)EDBAYEBbDuVDuJy%&>%%4=ٔ-;Q-->91I1==WFy=D=i5EE>IQ 5MH4E}W E}DE}BEy"E} :*E}a99VE}5ZEyBE}*:a2E}/:aJE}kH:a:E}nH:aMt?Q 9H4M)MZU 9>ZU@ZU6@ɢi) i)顑i# >IE_@A @A@E4@AIIOE>Yԁ "װ,Ub?A;ɰ0>G@>A@>gٱ>g" FAHRS rotation from veh to nav: [[0.736331,0.500081,-0.455780],[-0.367242,0.861135,0.351541],[0.568287,-0.091469,0.817731]]>H?`?@+ݿ׿j??`g/?j*?i>G@I>{s_;>CYR&AyRJ!HTV@AbDZVDZfyb>%bd=ٔf:Q-f>9dId=jWFyj$Dj_>Ej>lQ 5rH4nt?Q 9rH4n;)nMAYtyvW/Q Iv?n%BIn :in|:n3H4yz7BɮzbBxj j j j jZ)Z)Z)Z-C@ɢA)A EliA)AIIiMO >IIQP@ @@/@A>A>ԉIIO=EZ EIECE"E:*Ec9VE5ZEa@a@a@a@ԹB>BOCB$HBgAB=B$DBDB;BؕE ,2qb?A2=@28@2Zٱ2 " :AHRS rotation from veh to nav: [[0.735913,0.503703,-0.452454],[-0.368061,0.858497,0.357091],[0.568299,-0.096257,0.817173]]2H?V?@ܿN׿`x?`?`/?LG&?i2=@I2_;2CYBOAyB"HIF<)FR=dbDnVDn0yr>%vH=ٔvlQ-v>9xIx=zWFyz,D~2E~>Q 5H4u?Q 9 H4)uPAY y /Q I ?&BIB:iH4yɮGbBj)j1j1j1j1ZQZQZQZUЛ@ɢa)a eii)iiiim> >qIq @  @ @ @ IIO=%=4=EU EEETE"E:*EA9VE:5ZEBE:a2E:aJEV:a:EV:aI a+,%VO=ٔVLQ-V>9XIX=ZWFyZ4DZE^>`Q 5bH4b!u?Q 9fH4b)b(SAYdyf10Q If?b (BIb:ib9:bOH4yj6BɮnaBn+EjtjxjxjxjxZiZiZiZm@ɢ) Fi)顩i >II5>)5>R@ @@/@IA.AIIOI>qԡ E  E CE @E "E *E 09VE 4ZE a @a @a @a @n,vc?AYAy%H 4< bDVD1y%5>%%B=ٔ-Q-->9- ?I- ?=5WFy5=D5E5>9Q 5EH4=55u?Q 9EH4= )=VAYIyIQ IM?=>)BI=l:i=:=H4yQɮUaBU,EyBn>BLCB'HBCAB=B%DBDB;B EjjjjjZ)Z)Z)Z)ɢY)Y ]ia)aaaie{ >iIi-P@) @)@-0@)AE؟AIIIYOmV> &?,H*c?A^]6@^,1@^{%ٱ^n rAHRS rotation from veh to nav: [[0.732763,0.516544,-0.442991],[-0.367330,0.848255,0.381487],[0.572824,-0.116816,0.811312]]^Hr??`Yܿ@V׿@$?Ij?T?`罿 D?i^]6@I^q_;\YAy6'H  yʡE? 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BI i ; GO4y%Bɮ%B%E1j9j9jAjAjAZaZaZaZe^b@ɢq)y }iiy)yyyi}=Iu%=u%=Ep EXEE"Ed:*E9VEZEBE;a2E;aJE:a:E:aP@ @@3@aA=.AIIIYOm5>ԑԹ v,a}o?A;ɰ2.@2I=2kٱ2,a :AHRS rotation from veh to nav: [[0.862938,-0.030271,-0.504402],[0.075737,0.994677,0.069876],[0.499602,-0.098501,0.860637]]2H0?@w$@xc?c?@h?x?@T7V?i2.@I2V_;2CYB&ByBӮHJ@AHbDNVDNyV4>%VO=ٔV俺Q-V>9Z ?IZ ?=ZXFyZ+D^<E^>`Q 5fO4bK|?Q 9fO4b")b2AYdyf >Q Ij?bBIb:ib:b O4ylɮn&BYjqjqjqjqjqZԙZZZrb@ɢ) egi)iK=IQ@ @@4@IEo EE6E"E`:*EVEc4ZEa@a@a@a@IOE> T,%RJ=ٔV;Q-V>9TIX=ZXFyZ4DZ,<EZ>\Q 5bO4^|?Q 9bO4^N")^KAYdyf5>Q If?^DBI^l:i^:^(O4yjBɮjBhj|j|j|j|jZZZZ'b@ɢ))1 5Oei1)111i5Y=I5O@1 @1@5/@1A=fAzA=eABAB o>B CB HB *BB K =B B DB I;B ^E!IYIqO9>QEk E\E2E"EmR:*E9VE4ZEBEq;a2Eq;aJEp ;a:Eq ;ay ,W%o?A2wo@2@=2 ٱ2g :AHRS rotation from veh to nav: [[0.861325,-0.046885,-0.505887],[0.090589,0.993949,0.062118],[0.499914,-0.099331,0.860360]]2H?`R@:00?n?ͯ?@?m?i2wo@I2!_;2CY^7By^#Hy=HzG?y&1 ףp= == ?=`e=Q89 99=(\?^I +?Mb`?Y=?y=X9>=;=7B=!B =)=B9Y=fBbDUVDUkyeӡ>%e>=ٔm"9Q-m>9iIi=uXFyuyQ 5O4};|?Q 9O4})}&AY_?Q E:y>Q I?}BI}:i}Q:})O4y1ɮ5B1jIIjIjijijqZM>ZM>Z˞?Z?ɢ) #ci)顩i=Ia@a @a@e/@aIIO'>yԩE e E YE 6E "E <:*E *9VE c4ZE a @a @a @a @ P,o?AJ#@J@=J%ٱJq VAHRS rotation from veh to nav: [[0.860657,-0.055006,-0.506205],[0.098139,0.993428,0.058908],[0.499638,-0.100378,0.860399]]JH@?)@2`?)?@.)?? ]c?iJ#@IJx/_;HYnBynH vp%Q=ٔV:Q->9 I = XFy DD<E>Q 5%O4ް|?Q 9%O4Z)AY!y%>Q I%?BI#;iI:O4y5Bɮ5B5EjIjIjIjIjIZiZiZiZm?ɢy)y %ai)顁i-=IԱ-P@1 @1@5/@1IIO= B S>B CB HB BB L =B 3DB DB ;B 1^EBʟCBʟCBʗCBI =BI =C>69 ,o?A2@2l=2Fٱ24Z :AHRS rotation from veh to nav: [[0.860168,-0.063891,-0.505993],[0.106132,0.992827,0.055058],[0.498846,-0.101061,0.860778]]2H~?$[1 u+?@% J=ٔ ;Q- >9I=XFyLD<E>!Q 5-O4%|?Q 9-O4%)%AY)y->Q I5?%BI%:i%:%O4y9ɮ=$B9jQjQjQjQjQZqZqZqZu?ɢ) /_i)顉iq=IEh E[E1E"EG:*E9VE-4ZEBE_;a2E_;aJE;a:E;aO@ @@/@IIO=9i ,ޯo?A0JlGT`vc9tYzNA~CI@~ >~hٱ~<  AHRS rotation from veh to nav: [[0.859783,-0.072085,-0.505546],[0.113608,0.992177,0.051740],[0.497861,-0.101919,0.861247]]~H@X?0tn- n??}??`d V?i~CI@I~Q_;~CY]By]HbDmVDmy}b>%}C=ٔ1;Q->9I=XFyTD;<E>Q 5P4|?Q 9P4.)AYy>Q I?BIY;i.;P4yɮBjjjjj ZAZAZAZE?ɢa)a ev]ii)iqqiu=yIԉMP@I @I@M0@IEj EZE3E"EN:*Ea9VE4ZEa@a@a@a@Au؟AIIO]>Ա h,bp?Aɰ6U@6`I>6!ٱ6 >AHRS rotation from veh to nav: [[0.859433,-0.078799,-0.505139],[0.120194,0.991499,0.049828],[0.496919,-0.103538,0.861598]]6Hy?*,* ž?\?@??}`6?i6U@I6 q_;6CYF*ByFHJAAJAAbDNVDNβyV>>%VY=ٔZ<;Q-Z>9Z"?IZ"?=^XFy^\D`b<Eb>dQ 5jP4f|?Q 9jP4f)fMAYhyj<?Q Ij?fLBIf):if:fP4yrBɮr3BrEj|j|j|j|jB*** querying acoustic contact ***i i%2Acoustic response timeout%Querying Benthos address 50 with one ping in standard two-way mode.Z1Z1Z1Z5o?ɢI)I MW[iI)QQQiUi=QIYQ@ @@%4@!AA@AB?>BCBLHBBBN =BBDB%;B]EAaIIO@>bE5Ȁ4jE5ܦ4rE50Em EXE2E"EY:*E9VE4ZEBEg~;a2Ei~;aJE:a:E:a(DAT read: user:17> BDAT read: Tx time:03:57:51.7310 $Ping request sent.2ٱ2 :AHRS rotation from veh to nav: [[0.858992,-0.086141,-0.504691],[0.127095,0.990766,0.047213],[0.495963,-0.104700,0.862008]]2H|?@Y l&@D?`[?Y,?ܽ?ͺ?i2c@I2pn_;2CYfByfHyUv?UVU6BUB Q)UxAQYUBbDmVDm0y}X>%}>=ٔv';Q->9I=XFyeD<E>Q 5P4|?Q 9P4^)AY ,?Q E:yǫ>Q I?ډBI: ;iG:P4yBɮBjjjjjZ\>Z\>Zg@Z#@ɢ) Yi)i&= I I)P@ @@4@AzAfA5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251296IA.AI!I1OEQ>yԡ E g E YE 4E "E C:*E *9VE 4ZE a @a @a @a @ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502842w,:Lp?A2?@2&>2Dٱ2u :AHRS rotation from veh to nav: [[0.858525,-0.093010,-0.504266],[0.133659,0.990007,0.044954],[0.495046,-0.105994,0.862378]]2H y?Ϸ"?#?6?Ӯ?f"?i2?@I2v7_;2CYBByB}HbDJVDJJyR>%VY=ٔV7;Q-V>9V ?IZ ?=ZXFyZlDZX<EZ>\Q 5bP4^}?Q 9fP4^7)^}AYdyfn>Q If?^WBI^B:i^:^*P4yhɮjrBljtjtjtjxjxyZZZZ @ɢ) i9I9Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.755095B &>B CB ôHB BB P =B B DB Σ;B ']E ,fp?A2lC@2@%>27Zٱ2 :AHRS rotation from veh to nav: [[0.857935,-0.100329,-0.503866],[0.140137,0.989257,0.041633],[0.494276,-0.106328,0.862778]]2H5t?$ ?`?P?7? X8`?i2lC@I2n_;2CY^qBy^H f4%rF=ٔr ;Q-r>9tIt=vXFyvuDz<Ez>|Q 5P4~#}?Q 9P4~)~AYy0>Q I?~ߊBI~;i~:~^9P4yɮBEj)j)j)j)j)ZIZIZIZMͦ@ɢ) ;Vi)i;=IDu=Du<El ETE5E"EV:*E9VE4ZEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007646BE"x;a2E$x;aJE:a:E:aR@ @@/@A؟AIIOI>1M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258761Y >,p?A6y@6`,>6`+ٱ6f BAHRS rotation from veh to nav: [[0.857332,-0.107099,-0.503500],[0.145904,0.988562,0.038161],[0.493654,-0.106180,0.863152]]6HBo?j ?M?扣??.?i6y@I62_;6CYJByJHbDRVDRk1yZ2>%ZM=ٔ^d:Q-^>9^"?I^"?=bXFyb}Db<Eb>dQ 5nP4f}0}?Q 9rP4fr )fAYpyv>Q Iv?fcBIfׄ;if;fIGP4yBɮBj)j)j1j1j1ZaZaZaZe@ɢ) Ti)顑iG=I9uP@q @q@q@qA>A>aEg EWE0E"EC:*E9VE4ZEa@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510789AIIOB>ԉԹ )'&,Ιp?A2@2`U3>2.ٱ2 :AHRS rotation from veh to nav: [[0.856691,-0.113683,-0.503147],[0.151585,0.987828,0.034906],[0.493055,-0.106174,0.863495]]2Hj?M` 'g?H??ߡ?4?4. ?i2@I2"_;2CYB]ByB=HbDNVDNyn>%nH=ٔr:Q-r>9pIp=vXFyvDvS<Ev>xchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762965Q 5 P4zZE}?Q 9 P4z )zEAY y >Q I ?zBIzlf;izWg;zUP4yɮ Bj1j1j1j1j1ZQZQZQZU@ɢa)i mRii)iiiimU=qIqԑO@ @@/@BQAU<B]>B]CB]-HB] BB]S =BYB]DB]X;B]\EIIO-,>DzD?AEq EPE2E"E2h:*E?9VE4ZEBE;a2E;aJE:a:E:achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.015063 Q,,p?A4<ɰY By HybX9?QˡEE6?' 9Zd;O?{Gz/$ÿY~*?y#T1BB )AYB@AbDVDky_>%==ٔQ->9I=XFyDE>Q 5P4#]}?Q 9P4U )AYZ->Z-@Z-a?ɢ9)9 =QiA)AAAiEc=IIIR@ @@K0@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267472IiIyO9>I E f E TE 8E "E I@:*E 9VE F4ZE a @a @a @a @ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.51889883,Ap?A:L @:`>>:Nٱ: FAHRS rotation from veh to nav: [[0.855291,-0.124391,-0.502995],[0.161328,0.986433,0.030376],[0.492392,-0.107127,0.863755]]:H^?ؿ`@g?`ܐ??Z?l?i:L @I:[_;:CYJDByJZHbDVVDVy^v>%^]=ٔbr;Q-b>9`I`=bXFyfDf<Ef>hQ 5nP4jq}?Q 9nP4j)jAYpyrw=Q Ir?jBIj/;ij; ;jqP4yvBɮv/BvEjjjj j Z!Z!Z!Z%߻?ɢ1)9 =Ni9)9AAiE)q=AIIP@ @@4@AzAhAIIYIqO}=ychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770777ԩ BU >BU CBU HBU <BBU T =BQ BU DBU ͢;BU [Eb9,]p?A68@6rD>6bٱ6 >AHRS rotation from veh to nav: [[0.854604,-0.130196,-0.502693],[0.165992,0.985761,0.026886],[0.492035,-0.106420,0.864047]]6H@X?@ `7??Y?? }?`T>@E?@i68@I6n5_;6CYJByJҶHbDRVDRJyZr>%ZK=ٔZ:Q-^>9\I`=bXFybDb[<Eb>dQ 5jP4f}?Q 9jP4f)f4AYlyn=Q In?fBIf;if;fP4ypɮrBtj|j|jjjZZZZü?ɢ1)1 5fMi1)199i==AIAEeg EeVEe2Ea"EeC:*Ee9VEe4ZEaBEeX;}N>yBDAT read: Rx Time:03:57:54.2998 TRx dataTimestamp_ set to:1761537475.697327checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025375a2EeX;aJEe2:a:Ee4:a@ @@/@IIԩO> - checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274867J@,8q?A N_@NTI>NٱNJ jAHRS rotation from veh to nav: [[0.853689,-0.135863,-0.502749],[0.170042,0.985180,0.022503],[0.492241,-0.104699,0.864140]]NH@kQ?`c?? ?߀?@ͺ?iN_@pINd_;NCYzBy~hH p<<bDVDܲy-5>%-C=ٔ-Q-->91I1=5XFy5D5:<E=>AQ 5MP4E}?Q 9MP4E;)EAYIyM=Q IM?E BIE:iE:EgP4yUBɮ]YBYjqjqjqjqjqZZZZ?ɢ) Ki)顩i`=Ia@a @i@i@I9IQO]>Emc EmREiEi"Emg5:*Em9VEiZEiau@au@au@au@DAT read: 03:57:54.2998 LVL= 27856, 32753, 32578, 32755, AGC= 67, IDX= 130, 0.22,-2.740, 1.724, 2.853, 2.828, PHS= 0.817,-1.059,-0.019, RAW= 123.6, 3.3, CAL= 124.9, 4.5, ROT= 25.1, -4.5 Ygot valid direction response: 03:57:54.2998 LVL= 27856, 32753, 32578, 32755, AGC= 67, IDX= 130, 0.22,-2.740, 1.724, 2.853, 2.828, PHS= 0.817,-1.059,-0.019, RAW= 123.6, 3.3, CAL= 124.9, 4.5, ROT= 25.1, -4.5 PDAT read: Bearing 192.9, 53.7 (Local) ~Local bearing/azimuth received: Bearing 192.9, 53.7 (Local) DAT read: Range 11 to 50 : 123.4 m (Round-trip 164.6 ms) speed 0.3 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.902777,0.422892,0.078459]Fpublishing direction and range infoyAu?1,?5;?YBlB )CI&Q?iP㥛 @k= @ |٠=)K>I|٠i!b?/E?a? h=)OgIK>i|٠9a uF,q?AN!@N"N>NٱN AHRS rotation from veh to nav: [[0.852830,-0.141489,-0.502654],[0.174036,0.984572,0.018138],[0.492333,-0.102949,0.864297]]NH cJ?O¿F??Ғ?`a?@ZS?iN!@IN_;LAY]ByeHbDVD1yL>%@=ٔQ->9I=XFyD T2<E>)Q 5P4-d}?Q 9P4-c)-AYy/=Q I?-BI-ɀbi|٠j:7ΠT@됹5Q@I L@Zu? bQe? ?2iwB:iB"i#ߘ?*iKBi)BZZZZa?ɢ9)9 =uIiA)AIIiM;=QIYIy)yAAAAB>BCBݸHBOBBV =B4DBDB6;BO[EBÑCBÑCBBS =BR =C`b6iO@ @@/@A>A?A1I9IIO]v>ԑEuh EuXEu3Eq"EuG:*Eu9VEu4ZEqBEu _;a2Eu_;aJEu:a:Eu:aԹ L,4q?A2U@2`R>20ٱ2  :AHRS rotation from veh to nav: [[0.851866,-0.146338,-0.502901],[0.177656,0.983984,0.014604],[0.492709,-0.101784,0.864221]]2H|B?7¿m?|?? ?@?i2U@I2Q_;2CYN6ByRHa]@a9] a]@a] a]@a] a]@a] i]Mb@Mb@Mb@]©]]] Y9]T㥛 ?K7A`ſlY]!?y]+]]-B]B ]iB)]ZAYY](BbDuVDuky~>%O=ٔQ->9Y=XFyD#5<E>ԙQ 5P4>}?Q 9P4)zAY&?Q E:yiQ I?BI:i:P4yɮIBjjjjjɢ) &Gi)i = I@ @@/@ 'g>-GQic9YAAI)IAOUT> E f E SE 1E "E I@:*E 9VE -4ZE a @a @a @a @ĆS,yNq?A;ɰ;2@2V>2ٱ2k :AHRS rotation from veh to nav: [[0.850858,-0.150995,-0.503230],[0.181108,0.983400,0.011145],[0.493194,-0.100622,0.864080]]2H ;:? 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Device response is::WD, -21.92, +82.55,+7.00, a@a a@a a@a a@a bDVDyk>%2=ٔQ->9Y=XFyDE>Q 5U4 ?Q 9U4.a)P*BQ A+:YQ Ew:yQ I?ζBIe ;iU>lU4yɮ;Ajjjjjɢ>) iƽ9)!!!i%y=)I)ԁE EE/E"E:*EVEJ4ZEa@a@a@a@ԩ O@  @ @ /@ Ai Ai B- 0>B) B- HB- kABB) B) B) B- ;B- FEAi Iq I O >Ӌ,1z?AJl>J>J+OٱJ_ RAHRS rotation from veh to nav: [[0.845511,-0.391633,-0.362954],[0.407595,0.912489,-0.035087],[0.344932,-0.118272,0.931146]]JH@l?@ٿ:׿ ?@3?`^?G?iJl>IJo^;JʑCYZS@ByZH`bDfVDfk1yn-]>%nY=ٔr =Q-r>9pYp=vXFyvDv<Ev>xQ 5~U4z?Q 9~U4zo^)z*BQ A :YQ EH:yA>Q I?zMBIzG ;izT?z U4y Bɮ A Ej!j!j!j)j)ɢU )Q UiU9)QYYi](=aIa8 @  @ @ 0@ AYIIE EE,E"E;*E~:VEg4ZEBEDԁ ,uKz?A2|p>2(>2uٱ2| :AHRS rotation from veh to nav: [[0.845923,-0.396485,-0.356670],[0.411726,0.910606,-0.035755],[0.338962,-0.116605,0.933546]]2H?`ٿֿY?#?oN?ٽ?i2|p>I2t^;0YB@ByB H DDHJAaMaM aMaM aMaM aMaM iMMb@Mb@Mb@IIII I9M|?5^?MbX9y&1YM-?yMʡYM`MSAMA M;B)MAIYMAbDmVDm1y}p>%}@=ٔ}Ou9Y=XFyDd<E>Q 5U4?Q 9U4\)+BQ AT:Y$/?Q E:yE>Q I?ڷBIy;i ;U4yBɮAjjjjjɢN) i9)i =IԉP@ @@4@A5.AIAIQO]v>ԱbEuJ4jEu94rEuS0E  E E .E "E V:*E x:VE ـ4ZE a @a @a @a @ ,Pez?A2t>2>2͵ٱ27w :AHRS rotation from veh to nav: [[0.846429,-0.400741,-0.350663],[0.415689,0.908825,-0.035223],[0.332806,-0.115953,0.935839]]2H ?ٿAqֿ`? ?L?@e?i2t>I2*^;2̑CY^ABybjHbDjVDjNyrL>%rU=ٔrK9v ?Yv ?=vXFyvDz <Ez>|Q 5U4~+?Q 9U4~Y)~W+BYy=>Q I ?~ZBI~;i~:~OU4yɮ4AjjjjjԹɢhj) ޿i^9)iT/=I5:8B*>BUCBHBABBB =BBB;BFE@ @@4@A5؟AIAIQOYA ,u<z?ADN%=DN<E\ E^E\E\"E\*E^:VE\ZE\BE^9F>F`ٱFz MAHRS rotation from veh to nav: [[0.846912,-0.404653,-0.344958],[0.419566,0.907089,-0.033978],[0.326657,-0.115956,0.938003]]FH?`ٿֿ)? ?e?@N?iFw>IFo^;FˑCYcAByHi-Mb@Mb@Mb@)))) )9-J +?I +Y-(?y-̽-9-A-A -kB)-A)Y-AbDMVDMyU:>%U(=ٔ][9]"?Ye"?=eXFyeDe:;Em>iQ 5uU4mD?Q 9}U4mW)m+BY}*?Q E}:y}ؘ>Q I}?mBIm:imE:mHU4yBɮAEjjjjjɢڽ) ӿiK9)iIr=I89}O@y @y@}3@yiA I I O- >ԑ ,|z?A6O^{>6E\>6fEٱ6z BAHRS rotation from veh to nav: [[0.847140,-0.408972,-0.339258],[0.423514,0.905261,-0.033752],[0.320921,-0.115088,0.940088]]6H@? ,ڿgտ? ?G?ev2?i6O^{>I6=Z^;6̑CYJAByJlHbDRVDR0yZ[>%Z=ٔZQ In?f_BIf ;if\ ;f]U4yrBɮrAvEj|j|jjjɢ-|)) -Ŀi-9)111i5`=9I9qE EEE"E;*E~:VEZEa@a@a@a@%P@! @)@-/@)ԡAIIOg>B A <B} ">B} TCB} HB} CBB} =By B} ȺDB} O;B} xFE c",!z?A2a~>2>2 ٱ2 :AHRS rotation from veh to nav: [[0.847584,-0.413092,-0.333101],[0.427100,0.903573,-0.033792],[0.314940,-0.113626,0.942285]]2H@h? pڿQտ U??@5M'?3'?i2a~>I2x{^;2ʑCYB$BByBHbDNVDNk1yn4>%nH=ٔr|9pYp=vXFyvDv%;Ev>xQ 5~U4zi?Q 9~U4zS)zR,BYy>Q I?zBIz{;iz;zU4y ɮ A j!j!j!j)j)ɢUϽ)Q UoiU9)YYYi]=aIa9)@) @)@)@)AyID@AzD@AE EE/E"E:*E:VEJ4ZE%=!IQBE.) { ,z?A Y BBy 9HiMb@Mb@Mb@ 9Mb?q= ףpy&1|Y ?y뽙`A"A 3A)AYAbDVD1yJV>%==ٔQ->9Y=XFyDE>Q 5U4~?Q 9U4R),BY3#?Q E:y>Q I?jBI ;i?;U4yBɮOAjjjjjɢ-Ԕ)-D< -௿i59)111i5L=9I9MC9y@ @@ /@ ԡAU.AIiIyO|>E  E E 1E "E :*E :VE -4ZE a @a @a @a @ 3, z?A@28>2>2ߝٱ2] :AHRS rotation from veh to nav: [[0.848457,-0.420081,-0.321952],[0.433611,0.900522,-0.032279],[0.303485,-0.112214,0.946205]]2H@&?ڿݚԿ H? ?Ll?PG?i28>I23_;2ˑCYBBByBHHJA HJ%Z]=ٔZ5=Q-Z>9^ ?Y^ ?=^XFy^ɿDb{<Eb>dQ 5jU4f?Q 9jU4foP)f,BYhyj1>Q Ij?fݺBIfy:ifp:fU4yrBɮriArEj|j|j|j|j|ɢ%)) -8i-G9))))i-!=1I15_9Q@ @@2@A>A>B->B)B-HB-CBB- =B)B-ǺDB-;B-AFEA=؟AIIIqOY>! ,!t{?ADB=D@EF EFEF0ED"EFD:*EFxv:VEF4ZEDBEF1V >VٱV= ^AHRS rotation from veh to nav: [[0.848999,-0.423402,-0.316119],[0.436295,0.899212,-0.032628],[0.298073,-0.110220,0.948158]]VH*?ۿ`L;ԿA?@X?@?_7OW?iV^>IV^;VʑCYn6CBy HbDUVDUy>%>=ٔ#W9"?Y"?=XFyҿDu ;E}>Q 5U4ͧ?Q 9U4^N)S-BYy>Q I?lBIԁ E,O{?A2U>2vU>2ٱ2 :AHRS rotation from veh to nav: [[0.849411,-0.426398,-0.310943],[0.439210,0.897835,-0.031406],[0.292568,-0.109892,0.949909]]2H`.?`Jۿӿ?`?m? !`e?i2U>I2^;0YVCByVHYimMb@Mb@Mb@iiii i9mT㥛 ?"~j:v?Ym!?ymS㽙mT%H=ٔ0g9Y=XFyڿD;E>Q 5V4`?Q 9V4L)-BY#?Q E:y>Q I?BI&;iۇ;, V4y BɮAjjjjjɢ5;) Ci 9)i3ћ=IE EE2E"E:*E~:VE4ZEa@a@a@a@ԉ9ԱA A @AB >B SCB HB DBB B B B ;B FEBTCBTCBɔCBɍ =Bɍ =C5 9= @  @ @ /@ AIIO >,9{?A2*>2>29ٱ20 :AHRS rotation from veh to nav: [[0.849516,-0.429872,-0.305832],[0.442441,0.896269,-0.030803],[0.287349,-0.109145,0.951587]]2H`;/?ۿ ӿP?`;? c?fs?i2*>I2%^;2ˑCYBDByB#HIF<)F;F=Fa=bDNVDNyVe>%V1=ٔVZB9XY\=^XFy^D^4;E^>`Q 5fV4bЄ?Q 9fV4bsJ)b.BYhyjC>Q Ij?bpBIb ;ib2;b'V4ylɮrArEj|j|j|j|j|ɢ-Z)) -|i-9)i5=I fA9 ee>eCGE EE/E"E&:*E$:VEJ4ZEBEf;Ա i I ,*S{?AY%DBy%HiMb@Mb@Mb@ 9+? ףp= Q?Yv?yQ\=AOA A)AYAbDVDyQ}>%9=ٔQ->9Y=XFyDE>Q 5UV4<儊?Q 9UV49H)h.BY]a ?Q E]:y]>Q I]?BI._! ,m{?ABR>BPBRHBREBBPBPBPBR;BREEYzDByz&HbDVDky>%X=ٔQ->9!Y!=%XFy%D)E->1Q 5EV45?Q 9MV45NF)5.BYIyIQ IM?5fBI5q;i5r;57V4yUBɮ]wA]Ejijijqjqjqɢh) Gie9)顡i=I9I)!@ @@/@A>A?I A I I E  E E /E "E ;*E :VE J4ZE BE @(,l{?AYu7EByuH yyiMb@Mb@Mb@ 9Zd;?T㥛 A`"?Y?yY=/AbA A)$AYpAbDVD0y%xB>%%:=ٔ!Q-%>9)Y)=-XFy5D1E5>9Q 5EV4= ?Q 9EV4=C)=(/BYE] ?Q EE:yM>Q IM?=BI=:i=;=*GV4yQɮUAQjijijijqjqɢg>)|?< 32i9)顡iM=IIIIU?)U?q-" 9ԡ P@  @ @ /@ A1 I9 II O] >,S{?A2>2;>26ٱ28 >AHRS rotation from veh to nav: [[0.850922,-0.440199,-0.286631],[0.453196,0.891111,-0.023136],[0.265605,-0.110213,0.957762]]2H :?6,ܿ+Xҿ`)??㰗@?6?i2>I2^;0YFEByFHbDNVDNNyV]>%Ve=bE9jE=4rE=Ϛ/E^ E^E^.E\"E^:*E^:VE^ـ4ZE\ab@ab@af@af@ٔf=Q-f>9hYh=jXFyjDn<En>pQ 5vV4rJ?Q 9vV4rA)rz/BYtyv>Q Iz?rUBIr;ir;rSV4y~Bɮ~A|jjjj!j!ɢ*) 7ia9)iuߓ=)I)c 9ԡ@ @@0@BAB>BRCBHBaFBBBBBu;BEEAIIOe> ,{?A6M>6>6]ٱ6e >AHRS rotation from veh to nav: [[0.851145,-0.442694,-0.282089],[0.456342,0.889598,-0.019168],[0.259431,-0.112414,0.959197]]6HI6B^;6͑CYJEByJeHbDbVDbkpyvr>%vG=ٔzÀ9xY|=~XFy D ;E >Q 5-V4-?Q 9-V4??)/BY1y5>Q I5?оBI,{?A;ɰ;2 >2>25ٱ2 :AHRS rotation from veh to nav: [[0.850971,-0.446358,-0.276791],[0.460001,0.887749,-0.017365],[0.253472,-0.112547,0.960773]]2H';?@ ܿ ѿp?ph?ȑ8? ϼ`?i2 >I2k^;0YBBFByBHAiUMb@Mb@Mb@QQQQ Q9UPn?{Gz&1?YU$?yU#UP=UEAUnA UA)U1AQYUAbDmVDmk1y}\>%}A=ٔ}Uo9Y=XFyD6<E>Q 5V4@?Q 9V4<)10BY$?Q E:y[>Q I?RBI;i;pV4yBɮAEjjjjjɢ) ޾i9)i=Ii=> 9E EEE"E:*E:VEZEa@a@a@a@ԑe < O@  @ @ @ B >B B HB 7GBB B B ƺDB (;B 8EE Am.AIqIO>E,Wz{?AVe>V ?V_xٱV bAHRS rotation from veh to nav: [[0.850796,-0.453293,-0.265840],[0.467106,0.884111,-0.012597],[0.240743,-0.113458,0.963935]]VH`9?ݿѿ?J?̉?@ ?iVe>IVC^;VˑCYjFByjIHbDrVDr:2yzG>%z1=ٔ~9~ ?Y ?=XFyD;h<E> Q 5V4 U?Q 9V4 8) 0BYy>Q I? BI i ;i  ; рV4y%Bɮ%ԾA-Ej9j9jAjAjAɢm8)q uiuf9)qqqi}=:=yImc 9ԑ- <@ @@4@ԱA ؟AII)O5q>E EE/E"E;*E҆:VEJ4ZEBEDB?B_rٱB JAHRS rotation from veh to nav: [[0.850300,-0.457258,-0.260587],[0.471175,0.881981,-0.010179],[0.234487,-0.114126,0.965397]]BH5?Cݿsп'?/9?؄ ? d7?iBHf>IBN^;BΑCYRGByVHieMb@Mb@Mb@aaaa a9eK7A`?Mb?+?Ye+?ye%B=ٔz9"?Y"?=XFy'D<E>Q 5V4Oi?Q 9V44)0BYY+?Q E:y ?Q I?lBIj:i;V4yɮAjjjjjɢx) yi 9)   i =I 9*:<@ @@1@A>A>I E  E E E "E ;*E :VE ZE a @a @a @a @A .AI I O- >R ,'|?A v@>vw?vqjٱv8 ~AHRS rotation from veh to nav: [[0.850044,-0.461299,-0.254219],[0.475065,0.879913,-0.008168],[0.227459,-0.113827,0.967112]]vH`3?ݿ Eпwg?>(?n]? # ?iv@>Iv5^;vˑCY QGBy %HbDVDy->>%-Q=ٔ595 ?Y5 ?=5XFy=/D=<E=>AQ 5MV4Ez{?Q 9MV4E1)E01BYQyU ?Q IU?EBIEy:iEp:ECV4y]Bɮ]sAeEjqjqjqjjɢ% A)! %.i%19)!!)i-@=)I1Mx9QQQQqA A B>BQCBHBGBB =B:DBźDBލ;BDEԙ@ @@4@ A I I! O) ?,t A|?AF>Fh?FcٱFlxH RAHRS rotation from veh to nav: [[0.849186,-0.466301,-0.247883],[0.479826,0.877338,-0.006624],[0.220566,-0.113316,0.968767]]FH`,?ݿϿ z?(?H!{ ;?N $?iF>IF9Q^;F͑CYZGByZxHbDbVDbyj,>%jO=ٔn9lYl=nXFyr7Dr&C<Er>tQ 5zV4v?Q 9zV4v.)vz1BY|y~ ?Q I~?voBIv;iv3;vV4yBɮAEjjjjj!ɢMB)I MDսiMT9)QQQiUR=QIYDyzDyE EE0E"E=;*E:VE4ZEBEI h,Z|?A2>2?2$\ٱ2 :AHRS rotation from veh to nav: [[0.848716,-0.470172,-0.242113],[0.483912,0.875111,-0.003091],[0.213329,-0.114538,0.970243]]2H (?L޿οk??XRi]N?]R@; ?i2>I24^;0YFGByFH|iMb@Mb@Mb@ 9B`"??Mb?Y.?y<<rAA A)YAbDVD0y#3>%;=ٔ9"?Y"?=XFy@DU<E>Q 5V4?Q 9V4*)1BY/?Q E:y?Q I?BI:i:OV4y ɮ $A Ej!j!j!j!j!ɢY) i9)iV=I!E%9E EEE"El;*E:VEZEa@a@a@a@Q@ @@@AfAzAfAIA!I1IIO]>B >B PCB HB HBB B B B ;B DEBRCBQCBBɎ =Bɏ =Cɶ5y j,mt|?Aɰ4<6w>6M?6TTٱ6p >AHRS rotation from veh to nav: [[0.848273,-0.473885,-0.236362],[0.487832,0.872937,0.000605],[0.206042,-0.115818,0.971665]]6H %? T޿Aο8?@?C?`_? E ?i6w>I6 &^;4YF(HByF-HbDRVDRyV;>%Z`=ٔZN9\Y\=^XFy^GDb2&<Eb>dQ 5fV4f۳?Q 9jV4f&)f1BYhyj?Q Ij?fBIf:if:fV4yrBɮrApjxj|P~YjjNCompleted lineCaptureHoming:InitialDiveOjAggregate::uninitialize lineCaptureHoming:InitialDive1P Uninitialize.qPUninitialize.Q dAggregate::initialize lineCaptureHoming:RepeatHackQɢ9;)  !=i 9)   i  =I m9mO@i @i@m/0@qԑU3Gi19YAA.AIIOf>D=DE EE/E"ET;*E:VEJ4ZEBEG2X?2)Lٱ2I :AHRS rotation from veh to nav: [[0.847211,-0.479099,-0.229562],[0.492639,0.870232,0.001924],[0.198850,-0.114721,0.973292]]2H`Y?޿`HbͿ d??_?s?_^5%?i2>I2W3^;2ΑCY^rHBybHiEMb@Mb@Mb@AAAA A9E|?5^? rh?MbYE2?yEC =EExAEA EA)E AAYEAԹbDVDy>%)=ٔcy9 ?Y ?=%XFy%QD%"<E%>)Q 55V4-U˅?Q 95V4-!)-92BY=*3?Q E=:y= ?Q I=?-*BI- ;i-:-V4yAɮEAIQ hAggregate::uninitialize lineCaptureHoming:RepeatHackQ1R VAggregate::initialize lineCaptureHoming:LapqRip:)iIf9!eQ@a @a@eM0@aQA؟AIIO>E  E E 0E "E :*E :VE 4ZE a @a @a @a @y 0),c|?A2W#>2<?2ƒEٱ2s :AHRS rotation from veh to nav: [[0.846366,-0.483206,-0.224001],[0.496910,0.867784,0.005573],[0.191692,-0.116025,0.974573]]2Hn?޿̿]??$v?Y?@س/?i2W#>I2 ^;2͑CYbHBybHbDjVDjyr>%rv=ٔrBOCBHBGIBB =BBĺDBy;BxDE O@  @ @ 14@ AzAAAԁAIIO>ԩ 0,>|?A2ء>2?2>ٱ2 :AHRS rotation from veh to nav: [[0.845806,-0.487086,-0.217622],[0.500378,0.865779,0.006957],[0.185024,-0.114777,0.976008]]2H`?i,߿˿@?v?~|? ڮ? bv;?i2ء>I27^;2ёCYBHByBHbDJVDJyR>%RN=ٔVm9VYV=VXFyXZ <EZ>\Q 5bV4^?Q 9bV4^)^2BYdyf?Q If?^+BI^:i^:^\V4yhɮj>AhEe EeEaEa"Ee;*Eeą:VEaZEaBEeA i߉ Iߍ A9 <6,"|?AF8>F, ?F>8ٱFڽ ZAHRS rotation from veh to nav: [[0.844551,-0.493651,-0.207466],[0.504687,0.863303,0.000306],[0.178955,-0.104964,0.978242]]FH?߿Bʿ`d&?,?@4??`޺`M?iF8>IF^;FˑCYf$IByfcHiMb@Mb@Mb@ 9@5^I ?Mb?~jtYb0?y<ļAЮA A)YAbDVD1yb+>%:=ٔEf9Y=XFy$<E>Q 5W4#?Q 9W4r)2BY0?Q E:y?Q I?BI;i_;W4yɮAE1M Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_TerminalqM Entering Terminal tracking update period 2.000000 s sec at 123.400002 m (mode 0.000000 count ).qM M dddjdZdG@b% Q@6%18%Z=0?Z=0?Z=Q3<Z=?iQ)QQQiQYIY9bEjEJ4rE//Eu EuEu-Eq"EuT;*Eu:VEut4ZEqa@a@a@a@O@ @@@II!O5.>9PExceeded connect timeout, disconnecting.a B >B B >HB IBB B B B m;B iDE<,|?A,6Ri>6: ?60ٱ6cʽ >AHRS rotation from veh to nav: [[0.843356,-0.499820,-0.197306],[0.509139,0.860675,-0.004037],[0.171834,-0.097052,0.980334]]6H?@ ߿TAɿJ??ʈp ?`fظ^?i6Ri>I6C^;6͑CY^hIBy^HbDfVDfNyn4>%nY=ٔr_9pYp=vXFytvC<Ev>xQ 5~W4zx?Q 9~W4z)z2BYy?Q I?zIBIz: ;izh;z W4y Bɮ %AEjj%@M%M%-B*** querying acoustic contact ***i) i)d1d1d1jd1Zd= G@Bd=@18=q8=ZYZYZYZ]?ii)iiiiiqIyU 9YԑP@ @@@II O >ԱE} E}E}2Ey"E};*E}:VE}4ZEyBE}D2 ?2(ٱ2 :AHRS rotation from veh to nav: [[0.842599,-0.504884,-0.187399],[0.512928,0.858407,-0.006420],[0.164106,-0.090713,0.982263]]2H? (ǿ`i?x?Kzp?@8`n?i2NL>I2 ^;2ΑC\YbIBybHId)f9yYy=XFy<E>Q 5W4$+?Q 9W4)3BY,?Q E:y?Q I?BI;i;W4yBɮAErj@M1NdddjdZd` H@JdQ@q88Z,?Z,?Z^@Z{?i)i I  ](DAT read: user:18> eBDAT read: Tx time:03:58:43.4311 e$Ping request sent.eA E  E E 0E "E ;*E :VE 4ZE a @a @a @a @ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250034HI,K)}?A2d>2 ?2"> ٱ27 :AHRS rotation from veh to nav: [[0.841634,-0.510426,-0.176401],[0.517072,0.855889,-0.009541],[0.155849,-0.083182,0.984272]]2H?iUKƿً?@qc? ? lK`(?i2d>I2 ^;2͑CYBIByBHbDJVDJkyRS=%VX=ٔVP9XYX=ZXFyXZ1<EZ>`Q 5bW4b=?Q 9fW4b )b%3BYdyf?Q If?b\BIb:ib-:b)W4yhɮnUAnEzjY1N]erCompleted lineCaptureHoming:UpdatePingUpdateRate_Terminal1Me eAggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_TerminaldididqjdqZdu?H@Rd8: uAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:uAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock1; vAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guideq;vInitialize.vdInitializing internal variables to default values.< yAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance<yAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide1> |Initialize.q>|Initialize.1=A Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidanceAAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide1C Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControlqCInitialize.C Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControlCInitialize.1DqD1BZYZYZYZ]'?ii)iiiiiunManaging dock network, ignoring radio surface power offIAQAUAAB]>B]NCB]HB];JBBYBYBYB]L;B]DDEui9I@ @ @ 90@ II)O5.>iYI]Aechecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502298qԡ P,ۇC}?A2sG>2K ?2,ٱ2T7 :AHRS rotation from veh to nav: [[0.840906,-0.515485,-0.164782],[0.520902,0.853534,-0.011862],[0.146762,-0.075860,0.986259]]2H`?~@ſ9?@'P?NK?k`n?i2sG>I2$^;2ёCYNIByRWHbDZ VDZ2yv=%vF=ٔv9xYx=zXFyxz_<E~>Q 5 W4Q?Q 9 W4)C3BY y ?Q I ?BIN:ig:E8W4yBɮAEyE EE2E"El;*E:VE4ZEBE^F |Uninitialize.q>:vInitialize.vdInitializing internal variables to default values.v PDetached from dock at depth 50.479179 m.ze be jeZed1d1d1jd9Zd= vH@ZZZZ?i))iI9I ) ԩO@ @@2@IIOB>m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005998 W,y]}?A2>2b?2 ٱ2& >AHRS rotation from veh to nav: [[0.840329,-0.519898,-0.153470],[0.524386,0.851383,-0.012871],[0.137353,-0.069661,0.988069]]2H?ÿ?>?M\̔?RձC?i2>I2 ^;2БCYZ JByZHi=Mb@Mb@Mb@9999 99=/$?X9vI +Y=?y==9=A9 =?A)99Y=AbDUVDUfye=%eB=ٔe9iYi=mXFyiuI<Eu>yQ 5W4}d?Q 9W4})}^3BY?Q E:y.?Q I?}mBI}:i}:}FW4yɮAReUzeQbeQjeQZeQdYdYdYjdYZd] MH@Z?Z?ZAq@Z.?i))顱iI9 &Changing to mode: 3E EE-E"E;*E:VEt4ZEa@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258299P@ @@4@IIOE>!BE >BA BE HBE JBBE =BA BE úDBE ;BE DEa h+],9xYx=zXFyx~E~>Q 5 W4v?Q 9 W4)x3BY y Q I?BI:i9:TW4yBɮXA5B*** querying acoustic contact ***i1 i1vEZDetected possible detachment. Starting timer.zeAbeAjeAZeAdIdIdIjdIZdM `H@ZiZiZiZiiy))顁iI9} 9 Q@  @ @ /@ II1O= >aD%=Da=E EE2E"El;*E:VE4ZEBEa2EaJE;;a:E;;achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762032ԩ ;d,}?A2T>2I?2ٱ2X :AHRS rotation from veh to nav: [[0.839485,-0.526668,-0.133737],[0.530564,0.847611,-0.007554],[0.117336,-0.064615,0.990988]]2H?w@O`??~ ?,?i2T>I2 ^;2͑CYNsJByRHi]Mb@Mb@Mb@YYYY Y9]i|?5?%A=ٔ3C=Q->9Y=XFy]<E>Q 5W4ć?Q 9W4)3BY?Q E:y>Q I?aBI;i;OcW4yɮAzebejeZedddjdZdI@Z?Z?Z? @ZŰ>i))iI!Ա5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014162="9Ua<P@ @@3@I I  O% >E  E E /E "E ;*E h:VE J4ZE a @a @a @a @ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2681709 p=j,}?A2|>2?2-H۽ٱ2| :AHRS rotation from veh to nav: [[0.838832,-0.530288,-0.123107],[0.533798,0.845596,-0.005220],[0.106867,-0.061336,0.992380]]2H?@?`?Xau@[?eg?i2|>I2/^;2ϑCYBrJByFHbDRVDR0y^n%^X=ٔb9dYd=fXFydj<Ej>lQ 5vW4n?Q 9vW4n)n3BYxyz?Q Iz?nBIn2;ine&;npW4yBɮA Eze9bejeZedddjdZd@CI@ZZZZ#?i)1)199i99IAB<AB>BMCBvHBJBBBBBԌ;BCEBNCBNCBB‘ =B‘ =Cw?55$9 ];O@ @@/@IIOF>Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.517956Ii Wf> C G1 Q ۭ9 Y A%q,}?A YJBy7HbD-VD-ky==%EB=ٔEQ-E>9IYI=MYFyIMEM>DYzDYEe EeEe0Ea"Ee:*Ee:VEe4ZEaBEe<W4yɮAߝ>ߝR=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770390zeYbeYjeYZeYdadadajdaZde zI@ZZZZi))iIqt$9ԙq] BDAT read: Rx Time:03:58:45.9592 ] TRx dataTimestamp_ set to:1761537527.381143e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024435 P@  @ @ @ I I OU >iOw,C}?A2`д>2>?2Eٱ2 :AHRS rotation from veh to nav: [[0.838171,-0.534975,-0.106165],[0.538745,0.842428,0.008311],[0.084990,-0.064162,0.994314]]2HL?@- e=?,?p?? l@k?i2`д>I2(];2ёCPYZJByZcHi=Mb@Mb@Mb@9999 99=ˡE?~jtMbp?Y=?y==;=|A9 =A)=zA9Y=AbDUVDUye~=%eH=ٔm6\=Q-m>9iYi=uYFyqu#6<Eu>yQ 5W4}H?Q 9W4}8)}3BYI?Q E:y?Q I?}BI}H:i}:}W4yɮMAEzebejeZedddjdZd*I@ZI?ZI?Z@Z?i))iI&9Em EmEm-Ei"Em;*Em:VEmt4ZEia}@a}@a}@a}@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2740551@1 @1@1@1IAIQOe>B >B B HB KBB B B ºDB ;B CEI iY IY  DAT read: 03:58:45.9592 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 19,-0.41, 0.951,-0.956, 0.846, 0.703, PHS= 0.351,-1.614, 0.099, RAW= 143.3, 12.5, CAL= 142.8, 13.6, ROT= 7.2, -13.6  Ygot valid direction response: 03:58:45.9592 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 19,-0.41, 0.951,-0.956, 0.846, 0.703, PHS= 0.351,-1.614, 0.099, RAW= 143.3, 12.5, CAL= 142.8, 13.6, ROT= 7.2, -13.6  8DAT read: $Error in header  *Received a bad headers},:}?A*X#Rx 1: Read direction message, but no range..\direction in FSK: [0.964297,0.121819,0.235142]yAE(?c5Jʇ/?#?AEAE A)EJIEF>iEοE=EQ @Ef_>EW@ Es>)E>IEsAE#{?U?h? E>)E_IE>iEs:T****** received valid address query ******:R****** received valid ping request ******>received new query, but waiting for acoustic response period to elapseF>F?FZٱF0h rAHRS rotation from veh to nav: [[0.837679,-0.537691,-0.095826],[0.541215,0.840777,0.013427],[0.073349,-0.063110,0.995308]]FHD?@4 Q??d? Ʋ?`'@?iF>IF^;FΑCYuJByuvHAbDVDNym=%A=ٔ9Y=YFy;E>Q 5W4ʆ?Q 9 W4U)3BYIyM?Q IM?-BI!,)E5 E5E1E1"E5 ;*E5:VE1ZE1BE5O2_?2|ٱ2 :AHRS rotation from veh to nav: [[0.837233,-0.540038,-0.086023],[0.543377,0.839256,0.019794],[0.061506,-0.063315,0.996096]]2H?G`@Wc?.?D?}?q5?i2>I2Z^;2БCY^KBybH9i}Mb@Mb@Mb@yyyy y9}V-?{GzY}>y}ף}}۹A}A } A)}AyY}AbDVDJy=%L=ٔ9Y=YFy֨;E>Q 5W4;؆?Q 9W4)3BY">Q E:y ?Q I?BI:i:YW4yBɮյAzebejeZedddjdZdJ@Z%">Z%">Z%`@Z% ?i9)9)999i9AIAT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseM(9qQ@ @@3@IIO )>ԑbEɃ4jEɃ4rES)0EM  EM EM /EI "EM ;*EM M:VEM J4ZEI a] @a] @a] @a] @ T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse ,,],~?AB>B?BJٱBA NAHRS rotation from veh to nav: [[0.836796,-0.542164,-0.076359],[0.545272,0.837834,0.026685],[0.049509,-0.063967,0.996723]]BH?hY@Kr??NS?`IB:^;BΑCYZKByZHbDfVDfyn=%nX=ٔr=Q-r>9pYp=vYFytv;Ev>xQ 5~W4z冊?Q 9~W4z5)z4BYy} ?Q I?zBIz;iz;zW4y Bɮ A Eze)be1je1Ze1d1d1d1jd9Zd=EJ@ZYZYZYZ]} ?ii)i)iqqiqԙqIAQAU@AB]>BYB]HB]/KBBYBYBYB]o;B]XCE+9P@ @@/@IIO!>T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseI ,F~?A6l,>6l?6.ٱ6Rz BAHRS rotation from veh to nav: [[0.835996,-0.544911,-0.064681],[0.547461,0.836270,0.030650],[0.037389,-0.061033,0.997435]]6Hy?o@̄??b? $??@?i6l,>I6^;6͑CYF1KByJHIN<)LN=N=bDR VDR2yZ=%ZM=ٔ^$9`Y`=bYFy`b;Ef>dQ 5jW4f?Q 9jW4f)f 4BYlyn ?Q In?fUBIfD;if;fW4yrBɮvKAvEE EEE"ET;*E:VEZEBEGIqT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseԙ B,q`~?A2y>2?2ͼٱ2 `u :AHRS rotation from veh to nav: [[0.834921,-0.547730,-0.053842],[0.549798,0.834512,0.036230],[0.025087,-0.059851,0.997892]]2H ?@+?Q? ??@פ@?i2y>I2|K^;2ΑCYb8KBybHiMb@Mb@Mb@ 9ʡE?~jt{GztY->yףA 7A)AYAbDVD1yW<%<=ٔ9Y=YFy߿;E>Q 5W4?Q 9W4) 4BYb>Q E:y ?Q I?BI:i:W4yɮZ%b>Z%@Z%s ?i9)9)999iAAIA/-9E EE0E"E ;*Eh:VE4ZEa-@a-@a-@a-@UT****** received valid address query ******UR****** received valid ping request ******Ureceived new query, but waiting for acoustic response period to elapse@ @@@II O!BYBYB]HB]CKBBYBYBYB]N;B]7CEI  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse,Qz~?A Jp>J?J BNٱJ'r ZAHRS rotation from veh to nav: [[0.834080,-0.549960,-0.043071],[0.551500,0.833099,0.042355],[0.012589,-0.059081,0.998174]]JH`Ȱ? E@Z `? ??ȉ??@ ?iJp>IJ7^;JϑCYfdKByf(HbDrVDry~=%V=ٔ=Q- >9 Y = YFy ;E>!Q 55W4%?Q 95W4%G)%4BYy# ?Q I?%BI%=ԙE EE2E"E~ ;*E:VE4ZEBE V2)?2ٱ2zl :AHRS rotation from veh to nav: [[0.832843,-0.552573,-0.032174],[0.553509,0.831461,0.047957],[0.000252,-0.057750,0.998331]]2H@?@*yY?`T?@Ӎ?0?`XT?i2>I2 ^;2БCYBjKByB0H DDLiMb@Mb@Mb@ 9y&1?Q~jtY`>yu3AA A)AY=AbD-VD-βy=p<%=F=ٔ=9AYA=EYFyAM;EM>QQ 5]W4U/?Q 9]W4U)U4BY]>Q Ee:ye ?Q Ie?UzBIU;iU/;UvW4ymBɮm۴AiB*** querying acoustic contact ***i izebejeZedddjdZdK@Z]>Z]>Z]@Z]{ ?ii))顑iIT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse/9%P@! @!@%0@!I1IIOU2>E-  E- E- 0E) "E- l;*E- ą:VE- 4ZE) a5 @a5 @a5 @a5 @1 e T****** received valid address query ******e R****** received valid ping request ******e received new query, but waiting for acoustic response period to elapse=,~?A>ѽ>>?>#pB<ٱ>r FAHRS rotation from veh to nav: [[0.831516,-0.555021,-0.023070],[0.555374,0.829722,0.055870],[-0.011867,-0.059269,0.998172]]>HǛ?@@??`?M`X`?i>ѽ>I>^;>ΑCY^KBy^WHbDjVDjyr=%rP=ٔr9tYt=vYFytz;Ez>||Q 5W4~)?Q 9W4~R)~3BY y  ?Q I ?~BI~C*;i~N:~,W4yɮAze9be9je9Ze9d9dAdAjdAZdE`GK@ZaZaZaZe ?iq)y)顁iIB]<A]<Be>BeLCBeHBeXKBBe =BaBaBe/;BeCE19)O@ @@4@IIO>T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseQԁ ,7~?A2>2]0?2=$<ٱ2+x :AHRS rotation from veh to nav: [[0.830376,-0.557033,-0.013767],[0.556683,0.828281,0.063670],[-0.024063,-0.060534,0.997876]]2Hq?`6 2Y?H?L?룘`P?i2>I2];2ёCEr ErEr1Ep"Er;*Er:VEr-4ZEpBErD9Y=YFyP;E>Q 5X47?Q 9X4)3BYy ?Q I?7BI:i:Q X4yBɮEzebejeZedd!d!jd!Zd%'K@ZAZAZAZE ?i))顙iI39ԉ-P@) @1@5/@1IqIOB>ԱT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse ,~?Aɰ4<2>2?2RO=ٱ2Gp :AHRS rotation from veh to nav: [[0.828790,-0.559552,-0.003034],[0.558404,0.826716,0.068742],[-0.035957,-0.058666,0.997630]]2H@r? h q?ut?` ? h ?i2>I2^;2БCYBKByBxHi Mb@Mb@Mb@     9 /$?:vy&1Y >y Լ ` `A  vA) vA Y AbD}VD}yu=%N=ٔ9Y=YFy4;E>Q 5X4D?Q 9X4_)3BY>Q E:y]?Q I?BI:i]:*X4ԹyɮiAzebejeZedddjdZdK@Z >Z >Z E"@Z 7]?i)!)!!!i!)I) 11m49E EE.E"E ;*E :VEـ4ZEa@a@a@a@5T****** received valid address query ******5R****** received valid ping request ******5received new query, but waiting for acoustic response period to elapseR@ @@/@IIO (>B]>BYB]%HB]bKBB] =BYBYB];B]BEBMCBLCBǓCBǒ =Bǒ =Cǒ49  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse4,d~?AF>FO?F{C=ٱF&(n AHRS rotation from veh to nav: [[0.827222,-0.561832,0.006943],[0.559839,0.825212,0.074867],[-0.047792,-0.058045,0.997169]]FH@x? p|?`3?#h?x*?@,x?iF>IF];FΑCYKByHbD-VD-:y==%=O=ٔE69AYA=EYFyIM;EM>QQ 5}X4UkP?Q 9}X4U)U3BYyy?Q I?UBIU!;iU;U(X4yBɮ3AEzebejeZedddjdZd K@Z9Z9Z9Z= ?iI)I)IIIiIqIyU269IY)YeG9YAS@ @@@II O*>AD=D<E EE/E"El;*Eą:VEJ4ZEBE^F>>?>2Vr=ٱ>l FAHRS rotation from veh to nav: [[0.825848,-0.563655,0.016368],[0.560784,0.823993,0.080976],[-0.059130,-0.057695,0.996582]]>H`Xm? w ??%^?ܺ?@@F`; ?i>>I>];>ёCYjKBynHi]Mb@Mb@Mb@YYYY Y9]Cl?~jtL7A`堿Y]>y]]+]3A]A ]`A)]AYY]=AbDuVDu1y4=%E=ٔ9Y=YFy*v;E>Q 5X4\?Q 9X4)3BYv>Q E;y>Q I?;BI":i:h7X4yɮAB*** querying acoustic contact ***i izebejeZedddjdZduL@iT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseZv>Zv>ZX@ZE>i))iI69P@ @@/@IIOB>E  E E 6E "E ;*E VE c4ZE a @a @a @a @E T****** received valid address query ******E R****** received valid ping request ******E received new query, but waiting for acoustic response period to elapse G,O/?A@2>2 ?2U=ٱ2n` :AHRS rotation from veh to nav: [[0.824376,-0.565371,0.027562],[0.561597,0.823023,0.085103],[-0.070799,-0.054678,0.995991]]2HJa? J9? ?3V?Uɵ? (?i2>I2Q];2БCYNKByRHbDZVDZܲybZ6=%bX=ٔb9dYd=fYFydj&;Ej>lQ 5%X4n,h?Q 9%X4n)n3BY)y->Q I-?nBInh.i)AABBMCBBB =BBB;BBE)iI!I-2?)-C? 89Q@ @@/0@IIO!>T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse!I /,(I?A02>2c?2P=ٱ21Y >AHRS rotation from veh to nav: [[0.823006,-0.566763,0.037951],[0.562043,0.822186,0.090098],[-0.082267,-0.052822,0.995210]]2HV?"@Cn? B?XO??`p@n ?i2>I2\];2ґCD\zD^AAEb EbEb1E`"Eb;*Eb:VEb-4ZE`BEb@9Y=YFy >;E >Q 5X4lv?Q 9X4)~3BYy%1?Q I%?BI:i9:MUX4y-Bɮ-A)zeQbeQjeQZeQdQdQdYjdYZd]@ІL@ԑZZZZ1?i))顱iI:9O@ @@D0@IԹIOd>T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse [,|c?A2ԣ>2|?2Ͽ=ٱ21X :AHRS rotation from veh to nav: [[0.821591,-0.568119,0.047213],[0.562354,0.821262,0.096364],[-0.093521,-0.052621,0.994226]]2HxJ?.[,??G?@T?.?i2ԣ>I2];2БCYBKByBH\i Mb@Mb@Mb@     9 S㥛?~jtS㥛Y $>y D /ݼ `A A A) A Y AbD%VD%:y5=%=l=ٔ={=Q-=?9AYA=EYFyAE`H;EE?IQ 5UX4Mw?Q 9]X4M )Mi3BY]#>Q E];y]>Q I]?M1BIM7 ;iMm ;MhaX4yaɮmAizebejeZedddjdZd@>L@ZU#>ZU#>ZU@ZU=>ia)a)aaiiiIm:9bEU4jEU4rEUÍH0E EE2E"E=;*EM:VE4ZEa@a@a@a@-T****** received valid address query ******-R****** received valid ping request ******-received new query, but waiting for acoustic response period to elapseU@ @@4@II1OE0>B>BBBB =BBB;BBE9  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse,|?A;ɰB>B?B=ٱBU NAHRS rotation from veh to nav: [[0.820268,-0.569157,0.056747],[0.562322,0.820594,0.102073],[-0.104662,-0.051817,0.993157]]BH ??6 ?? OB?u!?@˺LJ ?iB>IB];BёCY%LBy%HbD1VD1yEf=%EJ=ٔMP9IYI=UYFyQU4:EU>YQ 5eX4]1?Q 9mX4]+)]N3BYiym>Q Im?]BI]/:i]:]oX4yuBɮ}ϲAyzebejeZedddjdZdL@ZZZZ>i))iI gA<9ImP@i @i@m/@iIyIO>E EE/E"El;*E:VEJ4ZEBE^FZ?Zm-=ٱZDJ bAHRS rotation from veh to nav: [[0.818900,-0.569988,0.067209],[0.562184,0.820189,0.106014],[-0.115551,-0.049031,0.992091]]ZH m4?W=4?@j?>?#?@5?iZY>IZ^;ZӑCYjLByHqiMb@Mb@Mb@ 9X9v?Zd;O:vY>yj<T/A\A rA)AYGAbDVD1y-%C=ٔ9Y=YFyj:E>Q 5X4㗇?Q 9X4J)73BY>Q E ;yn>Q I?BIo;iǀ;P~X4yBɮAE=B*** querying acoustic contact ***i9 i9zeIbeQjeQZeQdYdYdYjdaZde`M@Z>ZK@Zn>iQ)Q)QQYiYYIae?9ԙ@ @@@I IO%N>E  E E .E "E %;*E :VE ـ4ZE a @a @a @a @E DAT read: M 2Acoustic response timeout ,?A2z>2PF?2s>ٱ2D :AHRS rotation from veh to nav: [[0.817270,-0.571146,0.076559],[0.562292,0.819467,0.110907],[-0.126082,-0.047592,0.990878]]2H'?Fb?L?9?hd?`t#^D?i2z>I2u];2ґCYb9LByb.HbDhVDhyr=%rY=ٔv89tYt=vYFyxz1;Ez>|Q 5X4~=?Q 9X4~)~!3BY y >Q I ?~BI~:i~:~bX4yBɮiABABBLCB2HBlKBB =BBB;BBEze1bejeZedddjdZdOM@Z9Z9Z9Z=U>iI)Q)QYYiYqIyY?9EO@A @I@I@IIiIyO:>2Acoustic response timeout1y 1,(}?A2>2`?2: >ٱ2SK :AHRS rotation from veh to nav: [[0.815904,-0.572031,0.084156],[0.561841,0.818758,0.118197],[-0.136516,-0.049156,0.989418]]2H?`N=??C3?0B?@Zy*O?i2>I2];2БCYF@LByF7H HER ERER2EP"ERl;*ER:VER4ZEPBEPaZ2EPaZJER;;aZ:ER;;aZH ^4<^4<bDbVDb:yj<%jK=ٔn9lYl=rYFypr6:Er>tQ 5zX4~2Acoustic response timeoutv\?Q 9X4v)v3BYy>Q I?vcBIvQ;ivR;vsX4y ɮ ZAze1be1je1Ze1d1d9d9jd9Zd=`M@ZYZYZYZ]>ii)i)qqqiqyIyQmvA9EP@I @I@U0@QIIO )>y2Acoustic response timeoutԱ Ҧ,I?AY[LByXHiMb@Mb@Mb@ 9Zd;?Q롿~jthY۹>y\D\A A)/AYpAbDVD:yMx=%<=ٔQ->9Y=YFyE>Q 5X4𸇊?Q 9X4)2BY>Q E;yt?Q I?BI:iE:X4yyɮ}%AyzebejeZeԱdddjdZd@}M@Z>Z>Zm@Z;t?i))iIE EE0E"E ;*EZ:VE4ZEa@a@a@a@B9I)%2Acoustic response timeoutO@ @@0@IIO>>BBMCBBB =BBB;BBE  2Acoustic response timeout9 s,&?A2H>2z?2Ma!>ٱ2`T :AHRS rotation from veh to nav: [[0.813188,-0.573398,0.099695],[0.560440,0.817682,0.131544],[-0.156946,-0.051097,0.986284]]2H?GYࢅ?`?r*?n?Ŀ Z)`?i2H>I2];2ґCY^bLBy^`HbDhVDhy%<%%U=ٔ-\=Q-->9)Y1=5YFy15:E5>9Q 5EX4=Ç?Q 9MX4=)=2BYIyMy?Q IM?=BI=y:i=:=X4yQɮUAYzeybeyjeyZeydyddjdZd`M@ZZZZy?i))项iIC9P@ @@4@IIO%>9E EE.E"E&:*Eą:VEـ4ZEBEf;rt?r+>ٱrV ~AHRS rotation from veh to nav: [[0.811586,-0.574287,0.107347],[0.559918,0.817022,0.137719],[-0.166795,-0.051665,0.984637]]rH?` {?? %?Š?Yſs%?irć>Ir^;pY lLBy mHi-Mb@Mb@Mb@)))) )9-gfffff?~jtx{Gzt?Y-3>y-Ļ-ף;-йA) -+A)-GA)Y-AbDEVDE1yU<%]8=ٔ]U9YYa=eYFyaeŏ:Ee>u2Acoustic response timeoutyQ 5X4}͇?Q 9X4})}2BY>>Q E;y]?Q I?}IBI}:i}:}X4yɮAB*** querying acoustic contact ***i izebejeZedddjdZd@"N@iZ>>Z>>Zo@Z7]?i))顱iIE9@ @@4@ԙIIOc>E  E E E "E ;*E :VE ZE a @a @a @a @ - BDAT read: Response Not Received - *response not received5 RDAT read: user:20>Tx time:03:58:55.8811 = 6?6bx5>ٱ6W >AHRS rotation from veh to nav: [[0.809768,-0.575386,0.114919],[0.559640,0.816241,0.143364],[-0.176291,-0.051778,0.982975]]6H@?iOk??`?Y? ƿt?i6>I6];4LYRkLByRkHbD^VD^:yvVn%ve=ٔvh9xYx=zYFyxz;E~>!Q 5-X4%և?Q 9-X4%)%2BY)y5?Q I5?%BI%|:i%t:%'X4A9A9BE>BELCBABABABABABE;BEBEBBMCBB =B =CEr4yɮAEzebejeZedddjdZd`.RN@ZIZIZIZM??iy)y)yyyiIm@F9A@A @A@E/@AIQIaOu6>i߁I߅ADAT read: 2Acoustic response timeout ېCgG-gA9m9mgAYmuA! @,K?AEB EBE@E@"EB:*EB1:VE@ZE@BEB<9Y=YFyE%>!Q 5-X4%i?Q 95X4%)%2BY1y1Q I5?%BI%:i%U:%HX4yAɮEAAzeabeajeiZeidididijdiZdu`N@Z Z Z Z i9)A)AAAiAIII9H91%O@) @)@1@1IiIO>>Y2Acoustic response timeoutԁ Y,e?A:>:S?:1=H>ٱ:S BAHRS rotation from veh to nav: [[0.805852,-0.577677,0.129964],[0.559329,0.814692,0.153063],[-0.194302,-0.050653,0.979633]]:H?`U|????ȿ <奔`'Y?i:>I:];:ӑCYJLByJHiMb@Mb@Mb@ 9I +?S㥛?Y9>y/<AA A)1AYQAbD5VD50yEh=%EG=ٔE6=Q-M>9IYI=MYFyIUV;EU>YaQ 5mX4e释?Q 9mX4e)ex2BYm>Q Eu;yuJ/?Q Iu?eBIeU:ie<:eX4yyɮ}AyzebejeZedddjdZdN@Z>Z>ZȜ=ZJ/?iY)Y)YYYiYaIaIm3?)m=?E EE/E"E;*E:VEJ4ZEa@a@a@a@H92Acoustic response timeoutԉP@ @@/@IIOB=>B=MCB9B9B9B9B=úDB= ;B=BEԱ  2Acoustic response timeoutp,m?A2O>2?2sQ>ٱ2 O :AHRS rotation from veh to nav: [[0.803456,-0.579336,0.137216],[0.559796,0.813585,0.157185],[-0.202700,-0.049478,0.977990]]2H?@@N?@?`??ɿ5UK?i2O>I2+];2ՑCYBLByBHbDJVDJyrϼ%rQ=ٔv9tYt=zYFyxzr;Ez>|Q 5X4~?Q 9X4~Z)~[2BY y /?Q I ?~^BI~:i~:~UX4yɮϱAEze1be9je9Ze9d9dAdAjdAZdEN@ZaZaZaZeO/?iq)q)yyyiyIԹJ9@ @@0@IIO>DD%=E EE.E"E ;*Eą:VEـ4ZEBEL-_@?-zY>ٱ-6 M MAHRS rotation from veh to nav: [[0.801032,-0.581085,0.143833],[0.560282,0.812371,0.161668],[-0.210788,-0.048914,0.976307]]-H ?`@i? ?@??ʿL =?i->I- ];-ёCYeLByeHiMb@Mb@Mb@ 9oʡ?? rhY>yL=CpAnA A)AY(AbDVD y<%8=ٔT9!Y!=%YFy!%;E->1Q 5=Y45y?Q 9=Y45)522BY='>Q E=;y=yB?Q I=?5BI5:i5:5 Y4U2Acoustic response timeoutyQɮUAQuB*** querying acoustic contact ***iq iqzeybeyjeyZeydyddjdZd#O@Z%'>Z%'>Z%zc>Z%yB?iQ)Q)QQYiYYIa]L99@ @@,0@I IO%N>abE-ـ4jE-ɶ4rE-/E  E E ,E "E *E :VE g4ZE a @a @a @a @ 2Acoustic response timeoutԑ 0,,"?A2>2 ?2aa>ٱ2ʿL >AHRS rotation from veh to nav: [[0.798592,-0.582952,0.149723],[0.560878,0.811042,0.166214],[-0.218326,-0.048761,0.974657]]2H?*???@F?@˿@c0?i2>I2];2БCYbLBybHIf=)f>f=f=bDjVDjkBpApBv>BtBtBtBv =BtBtBv;BvBEy:z% ^=ٔ 9Y=YFyA;E>!Q 5%Y4%?Q 9-Y4%)%2BY)y- C?Q I-?%BI%B:i%:%Y4y1ɮ=A9zebejeZedddjdZdUO@ZAZAZAZE C?iQ)i)iiqiqqyI fAuL9@ @@ 4@ II)O5.>m2Acoustic response timeoutԡ F3,;̀?AD0zD2@AE6 E6E6-E4"E6=;*E61:VE6t4ZE4BE6IF>FrL?FWh>ٱFlO NAHRS rotation from veh to nav: [[0.796081,-0.585087,0.154684],[0.561683,0.809469,0.171089],[-0.225314,-0.049317,0.973037]]FHy? `?N? ,?@@?̿`@#?iF>IF% ^;FґCYVLByVHb2Acoustic response timeoutbDfVDfkyn<%nM=ٔr@9pYp=vYFytvT;Ev>xQ 5~Y4z ?Q 9~Y4z)z1BYyC?Q I?z+BIz;iz;z&Y4y ɮ A ze1be1je1Ze1d1d1d9jd9Zd=O@ZYZYZYZ]۬C?ii)i)qqqiqqIyuN9Iy)yI@I @I@M/@IIYIyO> u2Acoustic response timeout) B9,总?A 2/>2)?2]o>ٱ2qN :AHRS rotation from veh to nav: [[0.793839,-0.586715,0.159954],[0.562148,0.808309,0.175003],[-0.231969,-0.049006,0.971488]]2H@ g?`_by? ??`}f?+Ϳ Mm?i2/>I2hS^;2ӑCYnLByrHieMb@Mb@Mb@aaaa a9e"~j?p= ף?~jtYeS>ye=eeAeA eA)eAaYeAbD}VD}:yF%@=ٔZ9Y=YFy;E>Q 5Y4U?Q 9Y4)1BYЧ>Q E!;yR?Q I?nBI:if:5Y4yBɮAEzebejeZedddjdZd@,O@Z Ч>Z Ч>Z M>Z R?i))iIE} E}E}1Ey"E}~ ;*E}$:VE}-4ZEya@a@a@a@ԑBDAT read: Rx Time:03:58:58.4031 TRx dataTimestamp_ set to:1761537539.7322182Acoustic response timeoutP9a@a @a@a@aIyIO:>ԹBBBHBXKBBBBB ;BBE  2Acoustic response timeoutW+@,ȵ?A2>2M?2l8v>ٱ2!M :AHRS rotation from veh to nav: [[0.791387,-0.588687,0.164788],[0.563025,0.806899,0.178656],[-0.238139,-0.048606,0.970014]]2H` S?`?L?@? 2?`Y{ο`⨿Z ?i2>I2^;0\YbLBybHddbDjVDjk2y%Z %%Q=ٔ-9)Y)=5YFy15;E5>9Q 5EY4=/?Q 9EY4=E)=1BYIyMMS?Q IM?=BI=:i=p:=7CY4yQɮUұAQzeybeyjeyZeydyddjdZd4O@ZZZZMS?i))项iII=?)j?E EE,E"E ;*E1:VEg4ZEBEL]1?](-|>ٱ]NO uAHRS rotation from veh to nav: [[0.788998,-0.590807,0.168611],[0.563961,0.805315,0.182799],[-0.243784,-0.049138,0.968584]]]Hw??`@? ?@$?e?@S4Ͽ (?i]?>I]{^;]ԑCY}vLByyHi Mb@Mb@Mb@     9 S?i|?5?MbY >y q=  A ;A ݢA) ?A Y  AbD%VD%k1eDAT read: 03:58:58.4031 LVL= 32752, 32753, 31730, 32755, AGC= 70, IDX= 370,-0.39, 1.047,-1.159, 0.859, 0.305, PHS= 0.844,-1.419, 0.511, RAW= 142.2, 0.6, CAL= 141.9, 0.9, ROT= 8.1, -0.9 mYgot valid direction response: 03:58:58.4031 LVL= 32752, 32753, 31730, 32755, AGC= 70, IDX= 370,-0.39, 1.047,-1.159, 0.859, 0.305, PHS= 0.844,-1.419, 0.511, RAW= 142.2, 0.6, CAL= 141.9, 0.9, ROT= 8.1, -0.9 uPDAT read: Bearing 207.4, -5.5 (Local) u~Local bearing/azimuth received: Bearing 207.4, -5.5 (Local) }DAT read: Range 11 to 50 : 88.3 m (Round-trip 117.8 ms) speed 0.1 m/s RDAT read: user:21>Tx time:03:58:59.4811 R#Rx 1: Read range and direction messages.\direction in FSK: [0.989902,0.140884,0.015707]Fpublishing direction and range infoy15SaE?~{?y&?Y5B1115{ 1)5FI5bX?i5ˡ5?5@5+<5@ 5<)5>I5115| ?럍%?My? 5>)5,/I5>i5112Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.ye%m*=ٔmF9qYq=uYFyquv;E}>yQ 5Y4} ?Q 9Y4})}D1BY>Q E(;yQ?Q I?}BI};i};}SY4yBɮʱAxEi1i5+2?AJi5BRi5Bji5?D?b5 "U@bi5j5:jN@m"IJM@ᗛ~4Z5cɣj?Vj4D?6ԤͿ2i5TmB:i5lvB"i5Β\h?*i5:Bi5AzebejeZeddAdYjde@3V@Zde h?Z>Z>ZE>ZQ?i))iI}S9MO@I @Q@Q@QIaiIyO{>E  E E 0E "E %;*E M:VE 4ZE a @a @a @a @ < DAT read:  2Acoustic response timeoutԙ _L,s4?A2)>2gk?2J>ٱ2`M :AHRS rotation from veh to nav: [[0.786689,-0.592669,0.172811],[0.564876,0.803980,0.185824],[-0.249069,-0.048569,0.967267]]2H,?%@?w? 5??~Ͽި@?i2)>I2,];2ӑCALALBPBPBRHBR/KBBPBPBPBR;BRCEY^cLBy^aHbDfVDf:yj%{=ٔ gE2Acoustic response timeout kgS,FN?AE& E&E&,E$"E&;*E&?:VE&g4ZE$BE&4N^?^m>ٱ^L jAHRS rotation from veh to nav: [[0.784592,-0.594376,0.176442],[0.565647,0.802731,0.188855],[-0.253886,-0.048370,0.966024]]^H@a?!ࣕ???c,??пè ?i^N$>I^L];^ՑCYrWLByrSHv=va=bDzVDzy%J=ٔ J9 Y = YFyE;E>Q 5%Y4,?Q 9%Y4)0BY)y-S?Q I-?YBI:i:lmY4y1ɮ5A1zeQbeYjeYZeYdYdYdajdaZdek?ZZZZS?i))顙iIU9a@i @i@m4@iIyIO>1iYI]A]2Acoustic response timeoutY %Y,u h?A2>2Z ?2淅>ٱ2KH :AHRS rotation from veh to nav: [[0.782680,-0.595742,0.180285],[0.566339,0.801786,0.190787],[-0.258210,-0.047223,0.964934]]2H ?`R`?r?@;?k?@п@-`?i2>I2];2ԑCYRBLByR9Hi]Mb@Mb@Mb@YYYY Y9]?y]t=]]A]A ] A)]AYY]AbDuVDuy[J%C=ٔ.9Y=YFy;E>Q 5Y43?Q 9Y4ܧ)0BY9>Q E7;yA?Q I?BIj:is:|Y4yBɮ4AyEzebejeZedddjdZd @8?Z9>Z9>ZJ>ZA?i)))))119i1AIAE] E]E]/EY"E]=;*E]:VE]J4ZEYae@ae@am@am@W92Acoustic response timeouta@a @a@e4@aiIyIO>>B>BBHBJBB =BBB';BCEByByByB}Ə =B}Ə =C}# 5ԑe 2Acoustic response timeoutԹ `,?A2G>hAD^9^hAY^3AS> ?i>ٱPD =AHRS rotation from veh to nav: [[0.780814,-0.597185,0.183575],[0.567153,0.800766,0.192643],[-0.262044,-0.046304,0.963944]]Hm?@$`?&?@ߟ?? Uп@?iS>I];֑CYM>LByM4HbD]VD]0ymV %uK=ٔu?!9yYy=}YFyy};E>Q 5Y49?Q 9Y4)Z0BYyHB?Q I?BI;i;0Y4yɮ;AzebejeZedddjdZd`?ZZZZHB?i))i I ԉE"X9@ @@/@I)I9OE1>ԱEm EmEm.Ei"EmO;*Em:VEmـ4ZEiBEm-Y%!?%6>ٱ%> eAHRS rotation from veh to nav: [[0.779349,-0.597995,0.187130],[0.567474,0.800241,0.193875],[-0.265685,-0.044904,0.963013]]%H m?"?(???ѿ`?i%>I%)];%ґCY.LBy H 2Acoustic response timeouti]Mb@Mb@Mb@YYYY Y9]v?y&1|?Zd;OY]x>y]`;]j]SA]ߴA ];A)]VAYY]zAbDuVDufyh%:=ٔ 9Y=YFy-;E>Q 5Y4F??Q 9Y4)0BY>Q EL;yk$?Q I?BI ;i;Y4yɮ\AzebejeZedddjdZd W@Z>Z>ZQ<Zk$?i))顙iIcZ9]O@Y @Y@Y@YIiIyOZ>A Eu  Eu Eu +Eq "Eu ;*Eu ?:VEu [4ZEq a} @a} @a} @a} @ 2Acoustic response timeoutl,h?AB A"<B&>B&NCB&jHB&JBB& =B$B$B&.;B&CEB>BqV!?BY>ٱB&: NAHRS rotation from veh to nav: [[0.778156,-0.598606,0.190117],[0.567634,0.799842,0.195051],[-0.268822,-0.043863,0.962191]]BH?'@U? *?`N?`l? a4ѿ`IB)];BԑCYzLByzHbDVDFy[%e=ٔ9Y!=%YFy!%;E%>)Q 55Y4-MD?Q 95Y4-q)-/BY9y=$?Q I=?-BI-P ;i-~ ;-Y4yAɮEAIeB*** querying acoustic contact ***ia iazeibeijeiZeqdqdqdqjdqZd}(2@ZZZZ?$?i))顩iIZ9I)QMQ@I @I@M/@IIYIqO}>E2Acoustic response timeoutyԩ s,zρ?AE EE-E"E;*E':VEt4ZEBEac>>!?>Ȍ>ٱ>m= JAHRS rotation from veh to nav: [[0.777112,-0.599461,0.191686],[0.567782,0.799162,0.197392],[-0.271517,-0.044560,0.961402]]>H@?.+?D+?༒?#D?@`ѿ@Ц@?i>c>I>];<R2Acoustic response timeoutYVLByVHbDEVDE1yU{ּ%UF=ٔ]:;Q-]>9aYa=eYFyae:Em>iQ 5uY4mJ?Q 9}Y4m)m/BYyy}$?Q I}?mBBIm;im<;mbY4yɮAzebejeZedddjdZd`}@ZZZZ#$?i))iI\9ԱP@ @@/@IIO-->UBDAT read: Rx Time:03:59:02.0016 ]TRx dataTimestamp_ set to:1761537543.516112]2Acoustic response timeout y,i遻?A2h>2!?2 >ٱ2pC :AHRS rotation from veh to nav: [[0.776548,-0.599872,0.192683],[0.567414,0.798773,0.200008],[-0.273889,-0.045984,0.960661]]2Hz?'2ש?@(??ڙ?gѿF?i2h>I2`];2֑CYNKByRHIVV>)Vy9A )AY AbDVD:y1%D=ٔ;Q->9Y=YFy8E>Q 5Y4O?Q 9Y49)_/BY.m>Q Ee;yg>Q I?iBIC;i@;Y4yɮ ԲA ze9be9je9Ze9dAdAdAjdIZdM @Zu.m>Zu.m>Zufj@Zug>i))顉iIbEt4jEcw4rEb0E= E=E=)E9"E=s!;*E=Ǚ:VE=FA4ZE9aM@aM@aM@aM@U^92Acoustic response timeout Q@ @@?0@I)IIOU2>BABABEHBEJBBE =BABABE;BE CE1a m DAT read: Range 11 to 50 : 87.3 m (Round-trip 116.4 ms) speed 0.4 m/s u RDAT read: user:22>Tx time:03:59:03.0811 u X#Rx 1: Read range message, but no direction.yY Y] BY } 2Acoustic response timeout} Querying Benthos address 50 with one ping in standard two-way mode.ǀ,E?A-m >-H]!?-)>ٱ-6G9 MAHRS rotation from veh to nav: [[0.776458,-0.599546,0.194056],[0.566519,0.798977,0.201721],[-0.275988,-0.046692,0.960026]]-H@?z/`? ?8??ȩѿ秿 ?i-m >I-];-ґCY]KBy]HbDuVDufy8%K=ٔ;Q->9Y=YFy'E>Q 5Y4U?Q 9Y4h)%/BYy>Q I?BI;i; Y4yɮAzEze be je Ze d d djd@3U@Zd'?Z1Z1Z1Z5ʹ>iA)A)IIIiIIIQ^9i R@  @ @ 4@ II1OQDU=DU4=E] E]EYEY"E] ;*E]:VEYZEYBE]LE>!?EG>ٱE3Cԙ AHRS rotation from veh to nav: [[0.776322,-0.599047,0.196127],[0.565862,0.799407,0.201866],[-0.277713,-0.045732,0.959575]]EH?e+@???`? ѿ 9jִ?iE>IE];EבC2Acoustic response timeoutYKByHiMb@Mb@Mb@ 9bX9?MbDlYE6>yO&AA hA)AYAbDVDy%%:=ٔ;Q->9Y=YFyE>Q 5Y4[?Q 9Y4).BY.N>Q E;ye\>Q I?BI ;i ;gY4yɮJAzebejeZeddd!jd!Zd% n@?ZE.N>ZE.N>ZES@ZE:e\>iQ)Q)YYYiYYIaԹa9uP@q @q@q@qIIOa>EM  EM EM ,EI "EM ;*EM :VEM g4ZEI aU @aU @aU @aU @ 2Acoustic response timeout1 A1 A1 B9 B9 B= HB= ZJBB= =B9 B9 B= ;B= CE#,6?A2i>2F!?2ؐ>ٱ2< :AHRS rotation from veh to nav: [[0.776265,-0.598411,0.198287],[0.565235,0.799966,0.201406],[-0.279146,-0.044266,0.959228]]2H(?.&ua?h?@Q?@?ѿ@?i2i>I2^;0YvKByvHbD~VD~0y  =% l=ٔ ;Q-?9Y=YFyE?!Q 55Y4%d`?Q 9=Y4%)%.BYAyE[>Q IE?%BI%Fk;i%a|;%Y4yQɮ]0AYB*** querying acoustic contact ***i izebejeZedddjdZd@?ZZZZ[>i))   i I&a9@ @@/@I-2Acoustic response timeout)I1OE0>Iy k,NP?AE EE*E"E ;*EP:VE(N4ZEBEWQ$>> ?>;}>ٱ> 7 NAHRS rotation from veh to nav: [[0.776442,-0.597552,0.200173],[0.564395,0.800673,0.200947],[-0.280350,-0.043047,0.958932]]>H ?@&H? ???@ѿ3 ?i>$>I>];9lYl=nYFylrEr>tQ 5zY4ve?Q 9zY4vM)v.BYxyz/[>Q Iz?vBIv2:iv):v`Y4yyɮ}EAzebejeZedddjdZd@??ZZZZz/[>i))!!!i!!I)QMfc9@  @ @ @ II1O=/>ԉ52Acoustic response timeoutԩ -,[j?A2V>2 ?2>ٱ26 :AHRS rotation from veh to nav: [[0.777116,-0.596246,0.201449],[0.563023,0.801668,0.200832],[-0.281240,-0.042650,0.958689]]2H@"?`r?`H?C?޴?ѿ`,֥?i2V>I2];2֑CY^KBybHiMb@Mb@Mb@ 9/$?MbX9J +Y,>yʡHAvA tA)bAY̼AbDVDyh%:=ٔJ ;Q->9Y=YFyjE>Q 5Z4 l?Q 9 Z4 )s.BY D>Q E ;y >Q I ?BI:i: Z4yɮKAze9be9je9Ze9dAdAdAjdAZdE9?ZeD>ZeD>Ze@ZeJ>iy)y)yyyiyIԱE= E=E=,E9"E=;*E=:VE=g4ZE9aE@aE@aE@aE@2Acoustic response timeout_e9Q@ @@/@IIO>>B>BMCBHB1JBBBBB ;BCE E 2Acoustic response timeout9 ,P?A ɰ >>>) ?>6>ٱ>7 FAHRS rotation from veh to nav: [[0.777763,-0.595275,0.201824],[0.561895,0.802366,0.201202],[-0.281707,-0.043083,0.958533]]>Ho?`} ^? ?@?@?`}ҿL?i>>I>t];>ԑCYNKByNHbDVVDVy^<%b_=ٔb:Q-b>9dYd=fYFydfNqEf>hQ 5nZ4j5q?Q 9rZ4jٞ)jQ.BYpyrg>Q Ir?j:BIjA;ijM;jZ4yvBɮv7AxvDetached at range: 87.30 m. Transitioning docking module to standby.zebejeZedddjd!Zd% #@ZAZAZAZEg>iQ)Q)QQQiQYIa imeA5e9 R@  @ @ 0@ II1O= >9EI EMEM.EI"EI*EM:VEMـ4ZEIBEM] 7? >ٱ ll9 UAHRS rotation from veh to nav: [[0.778317,-0.594382,0.202317],[0.560844,0.803010,0.201566],[-0.282270,-0.043414,0.958352]] H? -@?n?B?? ҿ R:@Ҫ?i L>I }R]; ֑CYKByHbDVD: 2Acoustic response timeoutyuM<%u7=ٔ}:Q-}>9yY=YFy.E>Q 5Z4w?Q 9Z4)&.BYy=Q I?bBI ;i ;&Z4yɮ+ARezebejeZedddjdZd6c@ZZZZT=i) )   i Iԑeg9 u&Changing to mode: 1Iq)ueAQ@ @@@IIO>EU  EU EU *EQ "EU ;*EU |:VEU (N4ZEQ a] @a] @a] @a] @߭ >߭ %= 2Acoustic response timeout B A <B B B HB JBB B B B C;B 1CEBNCBNCBBˍ =Bˍ =CE=4j,E?A2>2?2>ٱ2%: BAHRS rotation from veh to nav: [[0.778736,-0.593714,0.202665],[0.560051,0.803489,0.201863],[-0.282688,-0.043695,0.958216]]2Hg?`??-??ҿ*_?i2>I2G)];0YNKByRH`iMb@Mb@Mb@ 9S㥛?l~jtY$>yļ~AA fA)AY=AbDVDy % K=ٔ c:Q->9Y=YFy:E>!Q 5-Z4%!}?Q 9-Z4%T)% .BY57>Q E5;y5>Q I5?%BI%[;i%;%E4Z4y9ɮ=3AA]B*** querying acoustic contact ***iY iYReazeabeajeaZeidididijdiZd@Z 7>Z 7>Z |F@Z >i)!)!!!i!)IQ-j9 f>%2Acoustic response timeout]Gq9YAr@ @@4@II!O-O>A WQ,"҂?AE EE/E"E7;*E5:VEJ4ZEBEZ9Y=YFyE>Q 5Z4?Q 9Z4)-BYyQ I?BI;i';AZ4yɮARezebejeZedddjdZd @ZZZZi)))))))i)1I9I9)='?5)j9I@ @@/@IIO%+>yiI%2Acoustic response timeoutԡ X|,낻?Af>f?f֒>ٱf> vAHRS rotation from veh to nav: [[0.778294,-0.594502,0.202053],[0.560568,0.802850,0.202964],[-0.282881,-0.044702,0.958113]]fH@?)?,???ҿ!㦿`ܨ?if>If(q`;dYKByHyiMb@Mb@Mb@ 9/$?S㥫~jtY&1>y/]DArA pA)tAYQAbDVDky^ϻ%H=ٔ:Q->9Y=YFy::E>QQ 5]Z4Ui?Q 9]Z4U~)U-BYe9>Q Ee;ye>Q Ie?UBIU:iU:UPZ4yiɮmAiRezebejeZedddjdZd@M@Z9>Z9>ZQa@Zŝ>i))iIE5 E5E5.E1"E51;*E5˭:VE5ـ4ZE1a=@a=@aE@aE@Fl92Acoustic response timeoutԩE@A @A@A@AIQIiOu6>B>BBBB =BBBZ;BHCE e 2Acoustic response timeoutc,?A2>2* ?2a>ٱ2}@= :AHRS rotation from veh to nav: [[0.777584,-0.595576,0.201627],[0.561788,0.802076,0.202653],[-0.282416,-0.044307,0.958268]]2H?? *?@??ҿ w"?i2>I2Ѹ_;2בCYBKByBHbDJVDJk1yn<%n[=ٔn詺Q-r>9pYp=rYFypv=;Ev>xQ 5~Z4z_?Q 9~Z4z)z-BY|y~e>Q I?zBIzw;iz;z@]Z4y ɮ A Re)ze)be)je1Ze1d1d1d1jd1Zd=r@ZQZQZQZUe>ii)i)iiiiiqIyjl9M!@I @I@M/@IIYIiO}> EE EEEAEA"EEx;*EE5:VEAZEABEEGgBȁ ?B9>ٱBK: bAHRS rotation from veh to nav: [[0.777001,-0.596468,0.201234],[0.562937,0.801450,0.201939],[-0.281730,-0.043624,0.958502]]BH0?D ??{?#?ҿU ?iBoV>IB_;B֑CYvKByzHbD VDf2-2Acoustic response timeoutYy =%2=ٔ/ʺQ->9Y=YFyt;;E>Q 5Z4ʓ?Q 9Z4a)-BYy>Q I?BI;i;umZ4yɮA{ERezebejeZeddd jd Zd L@Z)Z)Z)Z->i9)9)AAAiAAII QQmn9ԁ=$@9 @9@9@AIQIiOY>ԩbEg4jEȁj4rE]%0EU  EU EU ,EQ "EU ;*EU :VEU g4ZEQ a] @a] @a] @a] @ 2Acoustic response timeoutAy A} AAB >B NCB HB 1JBB =B B B K;B ;CE ,9?AR>R ?R/>ٱR#9 bAHRS rotation from veh to nav: [[0.776660,-0.597196,0.200388],[0.563905,0.800922,0.201333],[-0.280730,-0.043368,0.958806]]RHf?;N? ?&?G?@|ѿ G4?iR>IR<_;RבCYjKByjHiUMb@Mb@Mb@QQQQ Q9UI +?y&1|YU94>yU̼U`UOAU|A U7A)UAQYUzAbDVDy=%Y=ٔ7Q->9Y=YFy5;E>Q 5Z4|?Q 9Z4)-BY,6>Q E;y>Q I?2BI:iZ:nzZ4yɮŲAB*** querying acoustic contact ***i iRezebejeZe d d d jd Zd@Z-,6>Z-,6>Z-@Z->iA)A)AAAiIIIIԱp9i)I)-2Acoustic response timeoutc'@ @@?0@IIO>> 9 ,eS?ADzD?AE EE-E"E*E:VEt4ZEBEq_J ?J5>ٱJc9 VAHRS rotation from veh to nav: [[0.776588,-0.597838,0.198751],[0.564880,0.800439,0.200518],[-0.278965,-0.043450,0.959318]]JH?@|! p?@?2?? ѿ ? ?iJQN>IJ^_;HYZLByZHbDfVDfynw<%nY=ٔnQ-r>9pYp=rYFypv;Ev>xQ 5~Z4zB?Q 9 Z4zؚ)z~-BY y 2>Q I ?zSBIzr;iz#s;zZ4yɮARe9ze9be9je9Ze9dAdAdAjdAZdM M@ZaZaZaZe2>iq)y)yyyiyIUp9)@ @@4@IIO >9E2Acoustic response timeouti ,oIm?A FI>F70!?F%>ٱF; bAHRS rotation from veh to nav: [[0.776649,-0.598492,0.196527],[0.565841,0.799917,0.199892],[-0.276839,-0.044043,0.959906]]FHO?&'?^???ѿЌ?iFI>IF_;DYfLByfHiUMb@Mb@Mb@QQQQ Q9Ux&1?~jtx?~jtYUA>yU;UUAUZA UpA)UhAQYU AbDmVDmβy}=%}@=ٔQ->9Y=YFy:E>Q 5Z4A?Q 9Z4)_-BYB>Q E;y(?Q I?yBIv:i:vZ4yɮARezebejeZedddjdZd@ZB>ZB>Z=Z/(?i ) ) iII%9?)%> s9E= E=E9E9"E=7;*E=:VE9ZE9aM@aM@aM@aM@i2Acoustic response timeout?,@ @@/@IIO)>B)B)B-HB-OJBB)B)B)B-*;B-CEԑ E 2Acoustic response timeout,?A2@;>22t!?2N>ٱ2O4: :AHRS rotation from veh to nav: [[0.776631,-0.599155,0.194570],[0.567062,0.799440,0.198336],[-0.274381,-0.043700,0.960628]]2H)?`F,?^%??c?tѿ_ v?i2@;>I2_;2ՑCLYRLByRHbD^VD^kyfL%fW=ٔfKܻQ-f>9hYh=jYFyhj2;En>pQ 5rZ4r?Q 9vZ4r)rC-BYtyv(?Q Iv?rBIrp:irF:rģZ4yxɮ~A|RezebejeZedddjdZdʔ@ZZZZ(?i))iIIu9IeA)dAm.@i @i@i@iIyIO>D=%=D=%=EE EEEE1EA"EE;*EE:VEE-4ZEABEE@rB0!?B>ٱB8 JAHRS rotation from veh to nav: [[0.776480,-0.600044,0.192422],[0.568515,0.798788,0.196796],[-0.271791,-0.043413,0.961377]]BH@?`3@J?E1?@?0?eѿ>:?iB<>IB&_;BԑCYPyRHbDZVDZk1yb%bJ=ٔfڻQ-f>9dYh=jYFylvS;Ev>Q 5-Z4?Q 95Z4b)&-BY9yE;)?Q IE?BI;i;Z4yɮA 2Acoustic response timeoutRezebejeZedddjdZd_@Z9Z9Z9Z=S;)?ii)q)qqqiqyIy)mmu9a1@ @@@II1OMR>QEU  EU EU ,EQ "EU a;*EU :VEU g4ZEQ a] @a] @a] @a] @ 2Acoustic response timeoutԁ B! A% p<B- >B- MCB- HB- nJBB) B) B) B- ;B- BE,Ӻ?ABd>B"?Boo>ٱB5 JAHRS rotation from veh to nav: [[0.776572,-0.600562,0.190423],[0.569724,0.798436,0.194718],[-0.268981,-0.042724,0.962198]]BH?`7`_?-;? Ɍ??6ѿߥR?iBd>IB_;BבCYnLBynHYi}Mb@Mb@Mb@yyyy y9}x&1?{Gz? rhYyy}ף<}C }KA}xA }3A)}5AyY}AbDVDy{<%==ٔݻQ->9Y=YFy;E>Q 5Z4)?Q 9Z4)-BYE>Q E;yQ=?Q I?BI:iE:Z4yUBɮUAU|EmB*** querying acoustic contact ***ii iiReyzeybeyjeyZeydyddjdZd@ZE>ZE>Zt=ZQ=?i))项iI  w9ԁ 2Acoustic response timeout3@ @@/@II OK>Ա ,Cԃ?ADzD@AE EEE"E1;*E^:VEZEBEkF}O"?F9>ٱF/ NAHRS rotation from veh to nav: [[0.776609,-0.601051,0.188721],[0.571039,0.798138,0.192068],[-0.266068,-0.041394,0.963065]]FH?;@(?`E?`X?? Bѿ1m?iF>IF)^;DYv&LByvHbD%VD%y5<%5R=ٔ5Q-5>99Y9=EYFyA]3;E]>aQ 5mZ4eg?Q 9mZ4eܔ)e,BYqyu=?Q Iu?e BIe:ieW:eZ4yyɮ}sAԹRezebejeZedddjdZdUs@ZAZAZAZE_=?iy))顁iIx9?i?P6@ @@/0@IIO>>-2Acoustic response timeout9Y ,?A2>2"?2F(>ٱ2}. >AHRS rotation from veh to nav: [[0.776645,-0.601827,0.186084],[0.572499,0.797569,0.190078],[-0.262809,-0.041091,0.963973]]2HE?+B@?Q?`?`}T?@п ?i2>I2I^;2֑CYb4LByb'HiMb@Mb@Mb@ 9K7?S㥛?v/YI>y/<xiAbA VA)zAYAbDVDy*<% ==ٔ QQ- >9Y=YFyD7;E>!Q 5%Z4%?Q 9-Z4%x)%,BY-S>Q E-;y-UF?Q I-?%0BI%E:i%:%Z41y9ɮ=YAAReazeabeajeaZeadadidijdiZdm %@ZS>ZS>Zy >ZWUF?i))!i!!I)E= E=E=/E9"E=;*E=:VE=J4ZE9aE@aE@aE@aE@u2Acoustic response timeout y9B>BBHBJBBBBB;BBEBMCBMCBBBCb4ay8@ @@4@II)O5O>ԑ G (hA M Y9M (hAYM A% 2Acoustic response timeoutԹ I,d?A27>2/"?2>ٱ22 >AHRS rotation from veh to nav: [[0.776909,-0.602457,0.182917],[0.573559,0.797047,0.189068],[-0.259699,-0.041975,0.964777]]2Ho?SG@i?Z?h?`3?п} t?i27>I2^;2ՑCY^+LBy^H ``bDjVDjyrz%r_=ٔrQ-v>9tYt=vYFytz;Ez>|Q 5Z4~ۼ?Q 9Z4~G)~,BYy`F?Q I ?~QBI~;i~6:~yZ4yɮiARe1ze1be1je1Ze1d9d9d9jdAZdE`N @ZaZaZaZeG`F?iq)q)qqqiIԑ |99@ @@/@IIO >ԹDM=DM<EU EUEU.EQ"EUm+;*EUS:VEUـ4ZEQBEU"?A:>:"?:>ٱ:9 BAHRS rotation from veh to nav: [[0.777536,-0.602811,0.179043],[0.574212,0.796677,0.188644],[-0.256356,-0.043869,0.965586]]:H?@:J?_? a~?~%?$hпv`?i:>I:Q_;:בCYJLByJ HbDZVDZyj %jK=ٔn Q-n>9pYp=rYFypv9Ev>xQ 5zZ4z(?Q 9~Z4z)z\,BY|y~/F?Q I~?zvBIz;izn;zZ4y ɮ A v]4Docking module at standby.zeYbeajeaZeadidqdqjdZd!!@2Acoustic response timeoutZZZZ[/F?i1)1)119i99IA-/|91@ @@@II)O5O>EU  EU EU -EQ "EU ;*EU ^:VEU t4ZEQ a] @a] @a] @a] @a ߍ =ߍ < 2Acoustic response timeoutA AAA @AB >B B 8HB JBB B B B ;B BE=T,2N"?21>ٱ2uJ@ >AHRS rotation from veh to nav: [[0.778917,-0.602054,0.175554],[0.573869,0.797163,0.187630],[-0.252909,-0.045403,0.966424]]2H@?Dx?"]?\?A?`/п??i2vm>I2`;2ԑCYFLByFHiMMb@Mb@Mb@IIII I9MB`"?/$?ʡEYMN>yM9yYy=}YFyy8/E>Q 5[4ň?Q 9[4)%,BYh^>Q Et;y;?Q I?BI ;im ;Z[4yBɮXArEv8Undocking sequence complete.q;1<dddjdZd@!@Zh^>Zh^>Z&=Z;?i)i I L~9y@ @@@IIO">2Acoustic response timeoutԙ DQ zDQ EY  EY E] *EY "EY *EY VE] (N4ZEY BE] p6S"?6>ٱ6wJC >AHRS rotation from veh to nav: [[0.780191,-0.601342,0.172309],[0.573753,0.797657,0.185877],[-0.249219,-0.046157,0.967347]]@6HR?@1>7?.\?i??gϿա?i6>I6f`;6֑CYJLByJ HR=R=TV@AbDVVDVy^%bT=ٔb2"Q-b>9`Yd=fYFydfREf>hQ 5n[4jʈ?Q 9n[4js)j+BYpyrc;?Q Ir?jBIj;ij;j[4ytɮvZAxB*** querying acoustic contact ***i ixHTransitioning to midcourse guidance.1<q<dddjdZd"@Z9Z9Z9Z=c;?ia)aaaiaiIiU9ԩ!@! @!@%/@)I9IIOU2>2Acoustic response timeout e,o?A2)>2%!"?2}>ٱ2B :AHRS rotation from veh to nav: [[0.781404,-0.600557,0.169527],[0.573714,0.798254,0.183422],[-0.245481,-0.046066,0.968306]]2H B?7 ? [?@K?\z?kϿ]?i2)>I2v_;2בCYB$LByBH|iMb@Mb@Mb@ 9+?ktYv>>y KAA )KAYfAbD-VD-k1y=K<%ED=ٔEQ-E>9IYI=MYFyIMrEM>QQ 5][4UΈ?Q 9e[4Ut)U+BYeQ>Q Ee;ye?Q Ie?UBIU ;iU ;U[#[4yiɮuOAqe @q< vCompleted lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide1; vAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guideuCompleted lineCaptureHoming:LineCapture:HomingSequence:DetachFromDockd1d1d9jd9Zd=ڙ#@Z}Q>Z}Q>Z}/3Z}c?i)顉iIbEt4jEBqBuDHBuJBBu =BqBqBu݋;BuBE9@ @ @ 0@ I!I1Ou6>Qԁ  2Acoustic response timeout3N",z?A2->2!?28y>ٱ2u:? :AHRS rotation from veh to nav: [[0.782638,-0.599638,0.167069],[0.573672,0.798989,0.180325],[-0.241616,-0.045287,0.969315]]2H^ ?<0 b?[?Q??Eο/ ?i2->I24_;2ؑCYBLByBHbDJVDJNyRI%RU=ٔV)Q-V>9TYT=VYFyXZKEZ>\Q 5b[4^҈?Q 9b[4^)^+BYdyf?Q If?^BI^;i^:^0[4yjBɮjAjsEU |UInitialize.Yq>]|}Initialize.1=}<}q>}ee1>eq=zAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange={pTransitioning to terminal guidance at range 87.300003 m ==zNavigating to dock waypoint ( 36.779130 arcdeg , -121.859630 arcdeg )1=> }:Initialize WaypointComponent.=}ZNavigating to waypoint: 36.779130,-121.859630dddjdZd`$@ZZZZ+?%(HBɢ%k[=)%3= %w?i!)--)i-:)IUA-g9ԉ9@ @@4@IIO#>E% E%E%,E!"E%a;*E%:VE%g4ZE!BE%h22!?2Lu>ٱ2O7 :AHRS rotation from veh to nav: [[0.783717,-0.598754,0.165169],[0.573832,0.799753,0.176385],[-0.237705,-0.043457,0.970365]]2H@6?(?$?`\??`Ǔ?!mο?`: ?i2C>I2^;2֑CYBLByBHbDJVDJ 3yV!=%VJ=ٔV&#Q-V>9XYX=ZYFyXZͩE^>`Q 5b[4bo׈?Q 9f[4b)bU+BYdyf?Q If?b"BIb:ibd:b>[4yhɮnlAl}%ZNavigating to waypoint: 36.779130,-121.859630"f%f%w[`?*f!2f!e!e!e)e-@=-z-Completed lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRangeq=-z-Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRanged)d1d1jd1Zd5g&%@ZYZYZYZ]?u'HB2Acoustic response timeoutɢu=) %{?i!)-dD:11i=\6:MN%ɧUh9u:7i}y)> (kpHeading = 0.400000I: (kiHeading = 0.001000 >I[`? [`?Iy9 9@ @@4@IIOF>1E5  E5 E5 .E1 "E5 I;*E5 ^:VE5 ـ4ZE1 a= @a= @a= @a= @m 2Acoustic response timeout PExceeded connect timeout, disconnecting.Bi Am <Bq Bq Bu QHBu JBBu =Bq Bq Bu ;Bu BEY Z.,Va?A6@v>6!?6^q>ٱ6- BAHRS rotation from veh to nav: [[0.784954,-0.597543,0.163675],[0.573680,0.800774,0.172197],[-0.233961,-0.041269,0.971370]]6HX?`L?[??` ?rͿ@@!u?i6@v>I6C^;6ؑCYJLByJH only read 2 of 4 data items for bottom velocity. Device response is::BS, 82, -90,A a @a  a @a  a @a  a @a  bDVDy%<%-B=ٔ-7Q-->91Y1=5YFy15E5>9Q 5E[4=܈?Q 9M[4=)=+BQ AM+:YIQ EMQ;yM?Q IM?=DBI=':i=>=J[4yQɮ]dAY1Iu u~Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal1IuA 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.dddjdZda%@1颅LB^q>) Pi),aD:顉iI2Acoustic response timeout%9@! @!@-/@)aIqIO:>ԉԹ D9 zD9 EE  EE EA EA "EE ;*EE ˭:VEA ZEA BEE s6HY!?6m>ٱ6͋) FAHRS rotation from veh to nav: [[0.786185,-0.596551,0.161373],[0.573542,0.801565,0.168948],[-0.230137,-0.040271,0.972325]]6Hl(? ݧ?@uZ?j??@!uͿVH?i6n>I6@^;6בCYLByHbDEVDE0yefN%eG=ٔeQ-m>9qYq=YFy#E>Q 5[4?Q 9[4)*BQ A :YQ E);y?Q I?gBI a;iCW?eT[4yɮAB*** querying acoustic contact ***i i- addTargetRange:: Added new target pos. range: 87.300003 m, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, rangeRepo size: 1 RhUZhUe Added new target pos. range: 87.952766 m, bearing: 43.922993 deg, lat: 36.779353 deg, lon: -121.859577 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, posRepo size: 1 jheeDNOT Ignoring new targets: 87.95 m.RhiZhiԑ ProNav pure pursuit: ac range: 87.952766 m, nav range: 80.284462 m, bearing: 38.745437 deg, approach rate: nan m/s, LOS rate: nan deg/s, cmd heading: 36.161047 deg, new cmd heading: 38.745437 deg. HeadingCmd: 0.676235 target range: 87.952766 and range: 87.30 m.h-?h*h"h hg fffdddjdZd@&@mLBɢmE3)m<1t= u@iq)u]?:quiuR:i} y)}L? (kpHeading = 0.800000I; (kiHeading = 0.004000 >I-?IA92Acoustic response timeout ; 9@  @ @ 4@ I I O > ;,D?Aɰ;2g>2g !?2ai>ٱ2z. :AHRS rotation from veh to nav: [[0.787576,-0.595652,0.157869],[0.573106,0.802171,0.167545],[-0.226437,-0.041479,0.973142]]2H`3?@5?V? b?@r?̿<@#?i2g>I2|^;0YB LByBHa a  a a  a a aa iMb@Mb@Mb@ 9#~j?Q롿ˡEY%>y\什A3A )bAYAbD-VD-ܲy5<%=M=ٔ=(Q-=>9AYA=EYFyAMHEM>QQ 5U[4U?刊?Q 9][4U)U*BQ A]T:Y]Y=>Q E];y]k>Q Ie?UBIU;iU;U b[4yiɮmAijhY]DNOT Ignoring new targets: 87.95 m.Rhe :Zhau ProNav pure pursuit: ac range: 87.952766 m, nav range: 80.230392 m, bearing: 38.758064 deg, approach rate: -0.131658 m/s, LOS rate: nan deg/s, cmd heading: 38.745437 deg, new cmd heading: 38.758064 deg. HeadingCmd: 0.676456 target range: 87.952766 and range: 87.30 m.h5,-?h*h"h hgfffdddjdZdJ'@E EE/E"E%;*E:VEJ4ZEa@a@a @a @Z%Y=>Z%Y=>Z%@@Z%k>52Acoustic response timeoutYɢ] )a eianManaging dock network, ignoring radio surface power off)mi;:顡i*;iI5,-?IB>BBBB =BBB;BCE gA9}c<9@ @@/@I  2Acoustic response timeout^A= ;II IY Oe >B,Y ?A2>2Ӯ ?2=f>ٱ2wJ> >AHRS rotation from veh to nav: [[0.789053,-0.595000,0.152873],[0.572496,0.802449,0.168294],[-0.222808,-0.045274,0.973810]]2H??= @[?Q??@?@̿.t)?i2>I2e^;0YBLByFHbDNVDN0yz%zS=ٔzQ-z>9|Y|=~YFy|~fE>Q 5[4鈊?Q 9[4y)*BYy>Q I?BI:i:o[4yɮ%A!jhIMDNOT Ignoring new targets: 87.95 m.RhUU:ZhQ] ProNav pure pursuit: ac range: 87.952766 m, nav range: 80.175629 m, bearing: 38.770985 deg, approach rate: -0.147490 m/s, LOS rate: nan deg/s, cmd heading: 38.758062 deg, new cmd heading: 38.770985 deg. eHeadingCmd: 0.676681 target range: 87.952766 and range: 87.30 m.hm:-?hi*hi"hi higififqfqdqdqdyjdyZd} g(@ZZZZ>ɢP) i)Q8:i#T;i*I:-?IȄ9Al;=i@q @q@q@qD%=D=E EE-E"E;*E:VEt4ZEBE@rTx time:03:59:15.5311 Uԑ ^H,$?A2=>2u ?2"b>ٱ25M :AHRS rotation from veh to nav: [[0.790250,-0.594693,0.147801],[0.572302,0.802467,0.168871],[-0.219032,-0.048863,0.974494]]2HI?` &?MP?έ??: ̿ /?i2=>I2];0@Y^KBybHbDjVDj1yr赼%rH=ٔrQ-r>9tYt=vYFytvEz>xQ 5[4zg?Q 9[4z)z]*BYy>Q I?zBIz;iz;z}[4y ɮAjh9=DNOT Ignoring new targets: 87.95 m.RhE:ZhADAT read: 2Acoustic response timeout ProNav pure pursuit: ac range: 87.952766 m, nav range: 80.120323 m, bearing: 38.784139 deg, approach rate: -0.138441 m/s, LOS rate: nan deg/s, cmd heading: 38.770985 deg, new cmd heading: 38.784139 deg. HeadingCmd: 0.676911 target range: 87.952766 and range: 87.30 m.h J-?h*h"h hgf1fAfAdqdydԱjdZdU\)@ZZZZe>LBɢ) i)>0:iX:;iFI J-?II 6?) i?9E  E E +E "E *E خ:VE [4ZE a @a @a @a @m 2Acoustic response timeoutA @AA AAB >B B B B =B B ºDB !;B CEBBBBBC5A M Hu= 9@  @ @ /@ @ =@ =^A {=q I I O >^P,7A?A RGg>VѐCY=KB]:GyUHufAٛ9fAYA y O?AiMb@Mb@Mb@ 9333333?/$y,tA/A ҢA)AY¹AbDVDNy%=ٔQ->9Y=YFyE>Q 5[4)?Q 9[4f)(*BY/>Q E;y>Q I?BIU:iL;[4y Bɮ A tEjh1=DNOT Ignoring new targets: 87.95 m.Rh=*:Zh9M2Acoustic response timeoutU ProNav pure pursuit: ac range: 87.952766 m, nav range: 80.054169 m, bearing: 38.803305 deg, approach rate: -0.128627 m/s, LOS rate: nan deg/s, cmd heading: 38.784140 deg, new cmd heading: 38.803305 deg. ]HeadingCmd: 0.677245 target range: 87.952766 and range: 87.30 m.h]_-?hY*hY"ha hagafafifidididqjdqZdu3<*@Z/>Z/>Z^S@Z}>颥LBɢӈ ) &i)j':顩i;iI_-?I}9A @  @ @ /@ ^A Y=D zD  >  2Acoustic response timeoutI IA OU >E  E E .E "E %;*E |:VE ـ4ZE BE ~>>[3 ?>-Z>ٱ>FdC FAHRS rotation from veh to nav: [[0.792177,-0.593239,0.143261],[0.572488,0.803676,0.162365],[-0.211457,-0.046607,0.976275]]>HY? dV?`Q?@?c? ˿`ܧ=?i>>I>];>ۑCYNKByNHbDXVDXybn%ft=ٔj⼼Q-r?9xYx=zYFy|~1AE~?Q 5 [4?Q 9 [4 )*BYy>Q I?BI:i:͛[4yɮA!B*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 87.95 m.Rh$:Zh ProNav pure pursuit: ac range: 87.952766 m, nav range: 80.010284 m, bearing: 38.815968 deg, approach rate: -0.124786 m/s, LOS rate: nan deg/s, cmd heading: 38.803305 deg, new cmd heading: 38.815968 deg. HeadingCmd: 0.677466 target range: 87.952766 and range: 87.30 m.hqn-?h*h"h hgfffdddjdZd`*@ZyZyZyZ}>颍LBɢ}9) @i)`Y:顙ifM;is俉Iqn-?IQ 9%9@! @!@%4@)^A >}2Acoustic response timeoutԉIIOEs>ԩ \,&7u?A6.>6?6 )V>ٱ69< BAHRS rotation from veh to nav: [[0.793449,-0.591885,0.141810],[0.572130,0.804810,0.157952],[-0.207620,-0.044193,0.977211]]6Hc?`&?N??7?Hʿ@jOE?i6.>I6];6ڑCYFKByJH2Acoustic response timeoutiMb@Mb@Mb@ 9n? ףp= V-YV>yQ8mA A)tAYzAbDVD:2y<%6=ٔ%Q-%>9)B]>BYB]]HB]JBBYBYBYB];B]CEE EEE"E;*E:VEZEBEo<2Eo<JE <:E Q 5[4?Q 9[4))BY >Q E;yʄ>Q I?BI:i; [4yɮAjhYeDNOT Ignoring new targets: 87.95 m.Rhe2:Zha ProNav pure pursuit: ac range: 87.952766 m, nav range: 79.953743 m, bearing: 38.833972 deg, approach rate: -0.122756 m/s, LOS rate: nan deg/s, cmd heading: 38.815968 deg, new cmd heading: 38.833972 deg. HeadingCmd: 0.677781 target range: 87.952766 and range: 87.30 m.h -?h*h"h hgffԩfdddjdZd+@Z >Z >Z @Zʄ>% LBɢ%+ )) -d!i))-,:))i5;iM"׿IIIM -?IQ Y]fAE-99@ @@4@@fA@fA^AC>II!O5>m 2Acoustic response timeout! c, ?A2>2}?2R>ٱ225 :AHRS rotation from veh to nav: [[0.794491,-0.591076,0.139331],[0.572080,0.805453,0.154821],[-0.203736,-0.043296,0.978068]]2Hxl??zN?E?.?ʿ`*UL?i2>I26];2ؑCYVKByVHIb0>)b>|bDfVDfܲyW;%]=ٔ0Q->9Ya=eYFyim7Em>qQ 5}[4u?Q 9}[4uL)u)BYy>Q I?u4BIu;iu;u[4yɮAjhDNOT Ignoring new targets: 87.95 m.Rh5:Zh ProNav pure pursuit: ac range: 87.952766 m, nav range: 79.910141 m, bearing: 38.847854 deg, approach rate: -0.124845 m/s, LOS rate: nan deg/s, cmd heading: 38.833973 deg, new cmd heading: 38.847854 deg. HeadingCmd: 0.678023 target range: 87.952766 and range: 87.30 m.h-?h*h"h hgfffdddjdZd3,@ZZZZm>!LBɢ{) i)%.:!!i%u;i-ο))I--?I1U;9)2Acoustic response timeout9@ @@/@EE  EEEE+EA"EEG;*EE;:VEE [4ZEABEE+<2EE,<JEE6'<:EE7'<^A&lm>I!I1OMR>Qԁ `i,ꨅ?A2Acoustic response timeout-Q >-?-_K>ٱ-Ha AHRS rotation from veh to nav: [[0.797510,-0.588655,0.132147],[0.570000,0.806956,0.154665],[-0.197681,-0.048023,0.979089]]-H3?C-?q=?@?@ ?@Mɿw`T?i-Q >I-];-ڑCYybDVD ys%0=ٔYQ->9Y=YFynE>Q 5 [4?Q 9 [4))BYy>Q I?SBI;i2;r[4yɮAjhAEDNOT Ignoring new targets: 87.95 m.RhMH4:ZhI] ProNav pure pursuit: ac range: 87.952766 m, nav range: 79.854469 m, bearing: 38.865788 deg, approach rate: -0.122233 m/s, LOS rate: nan deg/s, cmd heading: 38.847855 deg, new cmd heading: 38.865788 deg. eHeadingCmd: 0.678336 target range: 87.952766 and range: 87.30 m.hem-?ha*ha"ha hagifififqdqdqdqjdqZd}@rw-@ZZZZ>颭#LBɢ ) 'i)H:顱i;i&¿Im-?IԉI9@ @@/@^Au;>Թ2Acoustic response timeoutBQAQB]>B]LCB]jHB]JBBYBYBYB];B]CEbEA{4jEdžs4rEַ/Em EmEiEi"Em;*Em:VEiZEiBEmp<2Emp<JEm <:Em <A 0AI I O > ep,L…?AB1>BR?BI>ٱB NAHRS rotation from veh to nav: [[0.799883,-0.587565,0.122288],[0.567348,0.806741,0.165182],[-0.195710,-0.062747,0.978652]]BHघ?T@HN?'??$? ɿ`)Q?iB1>IB^;B֑CYVKByVHieMb@Mb@Mb@aaaa a9ep= ף?l~jtYe>yeeDeZAeA e΢A)e+AaYeGAbD}VD}Fy%d=ٔQ->9?Y?=YFy^D$E>Q 5[4 ?Q 9[4))BY>Q E;yN>Q I?jBԹI<;i,7;[4yɮAjhDNOT Ignoring new targets: 87.95 m.Rh:Zh ProNav pure pursuit: ac range: 87.952766 m, nav range: 79.812866 m, bearing: 38.877952 deg, approach rate: -0.115680 m/s, LOS rate: nan deg/s, cmd heading: 38.865788 deg, new cmd heading: 38.877952 deg.  HeadingCmd: 0.678548 target range: 87.952766 and range: 87.30 m.h W-?h *h "h  h g fffdddjdZd%/.@M$LBɢMNL)I MFiQ)UL9QQiU]52Acoustic response timeout=[99@ @@@@?>@x>^Aׄ>AY>A@ BDAT read: Rx Time:03:59:18.0477  TRx dataTimestamp_ set to:1761537559.401436 2Acoustic response timeoutE%  E% E% .E! "E% ;*E% :VE% ـ4ZE! BE% bu<2E% cu<JE%  <:E%  yv,=܅?AF5>F+?FIF>ٱF ZAHRS rotation from veh to nav: [[0.802969,-0.585674,0.110574],[0.564027,0.806642,0.176642],[-0.192648,-0.079472,0.978044]]FH?ֽN?@ ??8?@ȿ@EX#L?iF5>IF3%^;FۑCY^KBybH ddbDjVDjJyr^<%rV=ٔvQ-v>9v?Yv?=vYFyvfDzXDEz>|Q 5[4~d ?Q 9[4~3)~d)BYy q>Q I ?~BI~:i~:~Y[4yɮA5B*** querying acoustic contact ***i1 i1jh9EDNOT Ignoring new targets: 87.95 m.RhE:ZhAU ProNav pure pursuit: ac range: 87.952766 m, nav range: 79.768547 m, bearing: 38.891277 deg, approach rate: -0.116031 m/s, LOS rate: nan deg/s, cmd heading: 38.877952 deg, new cmd heading: 38.891277 deg. eHeadingCmd: 0.678781 target range: 87.952766 and range: 87.30 m.he-?ha*ha"ha hagafififididqdqjdqZduK.@颥&LBɢG#7) 8i)99顩i7ԙ },ʈ?AB>BBvHBJBB =BBB/;BCE%DAT read: 03:59:18.0477 LVL= 32752, 32753, 30866, 32755, AGC= 71, IDX= 363,-0.10, 1.751,-0.056, 1.522, 1.139, PHS= 0.714,-1.151, 0.338, RAW= 139.0, 1.2, CAL= 139.1, 1.8, ROT= 10.9, -1.8 E- E-E-/E)"E-';*E-:VE-J4ZE)BE-<2E-<JE-H<:E-I<MYgot valid direction response: 03:59:18.0477 LVL= 32752, 32753, 30866, 32755, AGC= 71, IDX= 363,-0.10, 1.751,-0.056, 1.522, 1.139, PHS= 0.714,-1.151, 0.338, RAW= 139.0, 1.2, CAL= 139.1, 1.8, ROT= 10.9, -1.8 UPDAT read: Bearing 207.8, -0.6 (Local) U~Local bearing/azimuth received: Bearing 207.8, -0.6 (Local) eDAT read: Range 11 to 50 : 84.3 m (Round-trip 112.5 ms) speed 0.0 m/s iu>u?u&B>ٱu AHRS rotation from veh to nav: [[0.806065,-0.582859,0.102640],[0.560899,0.807695,0.181717],[-0.188817,-0.088905,0.977980]]uHH?`Ǧ@F??`?@B?&+ȿ¶K?iu>IuB^;uّCYKByHeRDAT read: user:24>Tx time:03:59:19.1311 mR#Rx 1: Read range and direction messages.u\direction in FSK: [0.981474,0.189002,0.031411]uFpublishing direction and range infoyLb C@<O`@ =)B>IK֭??Z.?~? >)ҧIB>i2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.iMb@Mb@Mb@ 9Q?ˡEY\>y̼'A A)AYAbDVD1yE;%E=ٔEUQ-E>9IYI=MYFyMpDUEU>YQ 5e[4]?Q 9e[4]w)]@)BYe>Q Ee;ye>Q Im?]BI]:i]Q:][4yqɮuAqԙii!?AJiBRiBjiM?b-*KT@XZ/@`~@RLb bij3|ۄL@3M@',Z\?"?]ԉſ2inB:ieB"iW9?*i#fBiiB addTargetRange:: Added new target pos. range: 84.300003 m, deltaT: 15.885594 s, deltaX: -3.000000 m, approachRate: -0.188850 m/s, rangeRepo size: 2 jhDNOT Ignoring new targets: 87.95 m.Rh9Zh ProNav pure pursuit: ac range: 87.952766 m, nav range: 79.698441 m, bearing: 38.906162 deg, approach rate: -0.126385 m/s, LOS rate: nan deg/s, cmd heading: 38.891278 deg, new cmd heading: 38.906162 deg. =HeadingCmd: 0.679041 target range: 87.952766 and range: 84.30 m.h=-?h9*h9"h9 h9gAfAfAfAdIdIdIjdM@3U@ZdM?颽)LBɢP) :i)N+9iԇ!AIIO?,?Anhy>nE?nR)>>ٱnX AHRS rotation from veh to nav: [[0.809025,-0.579327,0.099292],[0.558020,0.810099,0.179869],[-0.184639,-0.090111,0.978667]]nH? ؉2k?M?T???ǿ@In"^;nڑCY%KBy%H=2Acoustic response timeoutbDEVDErEU EUEU.EQ"EUs!;*EU8:VEUـ4ZEQBEUx<2EUx<JEU<:EU9qYq=uYFyuxDuL-Eu>yQ 5\4}&?Q 9\4})}')BYyw>Q I?}BI}:i}#;}"\4yɮAjhDNOT Ignoring new targets: 87.95 m.Rh:ZhU ProNav pure pursuit: ac range: 87.952766 m, nav range: 79.648582 m, bearing: 38.916920 deg, approach rate: -0.130252 m/s, LOS rate: nan deg/s, cmd heading: 38.906161 deg, new cmd heading: 38.916920 deg. ]HeadingCmd: 0.679228 target range: 87.952766 and range: 84.30 m.h]-?hY*hY"hY hYgYfafafaԉdaddjdZd?+LBɢh) bi) 9if' A I I O >&,2?A6>6?6^9>ٱ6Yٳ JAHRS rotation from veh to nav: [[0.811789,-0.575523,0.098853],[0.555365,0.813223,0.173892],[-0.180468,-0.086264,0.979791]]6H ,?joN???B?`ǿfqZ?i6>I6^;4YRKByRHIV=)Vy--#-pA-A -pA)-A)Y)bDEVDEyU%U@=ٔ]*#Q-]>9YYY=eYFyeDeEe>iQ 5u\4m?Q 9u\4m)m)BY}G>Q E};y}>Q I}?mBIm" ;imX ;m\4yɮ(AjhDNOT Ignoring new targets: 87.95 m.Rh<9Zh ProNav pure pursuit: ac range: 87.952766 m, nav range: 79.572960 m, bearing: 38.928142 deg, approach rate: -0.177497 m/s, LOS rate: nan deg/s, cmd heading: 38.916919 deg, new cmd heading: 38.928142 deg. )HeadingCmd: 0.679424 target range: 87.952766 and range: 84.30 m.hm-?hq*hq"hq hqgyfyffdddjdZd`a?EU EUEU/EQ"EU;*EU5:VEUJ4ZEQa]@a]@a]@a]@e.LBɢe)i mjii)m}9iiiu22BBHBJBBBBDBD;B(CE9Y59@1 @1@51@1ԁ^A] c>= 2Acoustic response timeoutԱ A AI I O >L,,M?A>V>>?>N5>ٱ>e6 FAHRS rotation from veh to nav: [[0.814831,-0.571502,0.097143],[0.552359,0.816278,0.169082],[-0.175926,-0.084116,0.980803]]>H?@IV޸???~? ƿ b?i>V>I>'^;>ّCYNKByNHbDZVDZy^*=%bL=ٔb9fc?Yfc?=fYFyfDfL.Ej>lQ 5n\4nf"?Q 9r\4n%)n(BYpyr>Q Ir?nBIny:inN:n \4ytɮzAxjhDNOT Ignoring new targets: 87.95 m.Rh%9Zh!5 ProNav pure pursuit: ac range: 87.952766 m, nav range: 79.501640 m, bearing: 38.938938 deg, approach rate: -0.177899 m/s, LOS rate: nan deg/s, cmd heading: 38.928141 deg, new cmd heading: 38.938938 deg. 5HeadingCmd: 0.679613 target range: 87.952766 and range: 84.30 m.h=-?h9*h9"h9 h9g9f9fAfAdAdAdIjdIZdM Ч?u0LBɢ}gs)y }iy)}ax@9顁ib:A?A>iA I! I9 OE >ԑ =r,Ԟg?A2>2e?2Rq0>ٱ2i :AHRS rotation from veh to nav: [[0.817869,-0.567982,0.092125],[0.549267,0.818352,0.169135],[-0.171456,-0.087729,0.981278]]2H+?@,}?`?`/?`3?Dſdu@f?i2>I2^;2ۑCYBKByBHbDJVDJ:2yR<%VM=ٔV!:Q-V>9XYX=ZYFyZDZ~1EZ>\Q 5b\4^'?Q 9f\4^H)^(BYdyfc>Q If?^5BI^):i^:^-\4yhɮjԲAl}2Acoustic response timeoutB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 87.95 m.Rh9Zh ProNav pure pursuit: ac range: 87.952766 m, nav range: 79.430527 m, bearing: 38.949981 deg, approach rate: -0.170152 m/s, LOS rate: nan deg/s, cmd heading: 38.938939 deg, new cmd heading: 38.949981 deg. HeadingCmd: 0.679805 target range: 87.952766 and range: 84.30 m.h.?h*h"h hgf f f d ddjdZd=`?ԁE4LBɢEϜ)i mii)m@8iiiuE u G (hA 9 (hAY uAI1IAOU>fX,?A2}>2?2U+>ٱ2qĽ :AHRS rotation from veh to nav: [[0.821316,-0.564043,0.085414],[0.545486,0.820316,0.171830],[-0.166986,-0.094534,0.981417]]2H8H? ݵ?t?`@?`?_ſ i3@g?i2}>I2*^;2ّCYBKByBH DDHJAhieMb@Mb@Mb@aaaa a9eGz?MbI +Yep>yee94e̽Aa a)eAAaYeAbD}VD}yX%$=ٔQ->9Y=YFyD(E>Q 5\430?Q 9\4)(BY^u>Q E];y`>Q I?oBI[;i;i?\4yBɮAuEjhDNOT Ignoring new targets: 87.95 m.Rh :Zh ProNav pure pursuit: ac range: 87.952766 m, nav range: 79.319977 m, bearing: 38.964759 deg, approach rate: -0.230025 m/s, LOS rate: nan deg/s, cmd heading: 38.949980 deg, new cmd heading: 38.964759 deg.  HeadingCmd: 0.680063 target range: 87.952766 and range: 84.30 m.h .?h *h "h  h gfffdddjdZd% @M7LBɢM_'ǻ)Q ULiQ)U 8QQiU߉OD =D <E  E E *E "E [";*E :VE (N4ZE BE z,{?A2e>2t?2G'>ٱ2Mѽ :AHRS rotation from veh to nav: [[0.825206,-0.559226,0.079376],[0.540911,0.822881,0.174016],[-0.162631,-0.100663,0.981539]]2H`h?-@R?%O? U?$F?@Ŀ@Źh?i2e>I2v^;2ؑCYBKByBHbDNVDNJyR%VZ=ٔV@Q-V>9XYX=ZYFyZDZE^>\Q 5b\4^6?Q 9f\4^~)^(BYdyf>Q If?^BI^:i^Y;^L\4ylɮnAljh|DNOT Ignoring new targets: 87.95 m.Rh :Zh  ProNav pure pursuit: ac range: 87.952766 m, nav range: 79.236740 m, bearing: 38.976352 deg, approach rate: -0.222257 m/s, LOS rate: nan deg/s, cmd heading: 38.964757 deg, new cmd heading: 38.976352 deg. HeadingCmd: 0.680266 target range: 87.952766 and range: 84.30 m.h%.?h*h!"h! h!g!f!f)f)1d)d1d1jd9Zd=0@e:LBɢe)i mt½ii)miiiu|WI I! O- >Ա ˩,N?Aɰ6 >6?6 ">ٱ6Sܽ FAHRS rotation from veh to nav: [[0.829239,-0.554015,0.073687],[0.536016,0.825688,0.175860],[-0.158271,-0.106333,0.981653]]6H ?~`#ݲ? '?l?@?=BĿ 8i?i6 >I6 H^;4YJKByJHEb EbEb,E`"Eb;*EbP:VEbg4ZE`af@af@af@af@2Acoustic response timeoutB<A<B%>B!B!B!B% =B!B%ºDB%D;B%)CEԙiMb@Mb@Mb@ 9K7?y&1~jtYI>y`eD=AȫA =A)AY=AbD VD 1y}%}1=ٔ}Q-}>9Y=YFyDmbE>Q 5\4??Q 9\4H})[(BY>Q E>;y_?Q I?BI:i:\\4yBɮAjhDNOT Ignoring new targets: 87.95 m.Rh:Zh- ProNav pure pursuit: ac range: 87.952766 m, nav range: 79.116692 m, bearing: 38.992067 deg, approach rate: -0.254936 m/s, LOS rate: nan deg/s, cmd heading: 38.976352 deg, new cmd heading: 38.992067 deg. HeadingCmd: 0.680540 target range: 87.952766 and range: 84.30 m.h7.?h*h"h hgfffdddjd Zd  @U>LBɢUwC)Y ]iY)]VYYi]b<i I=7.?IA99@ @@@BDAT read: Rx Time:03:59:21.6467 TRx dataTimestamp_ set to:1761537563.1801322Acoustic response timeout! ^A Ȅ>IY Ii O} >,vӆ?A:>:\3?:)0>ٱ:+ FAHRS rotation from veh to nav: [[0.833370,-0.548450,0.068528],[0.530866,0.828766,0.176996],[-0.153867,-0.111124,0.981823]]:H@?@??A?̧? ÿ rk?i:>I:y1^;:ۑCYNKByNHIRR>)R=bDVVDVy^F]%^h=ٔbOQ-b>9`Y`=fYFyfDfEf>hQ 5n\4jkF?Q 9n\4j|)j<(BYpyr>Q Ir?jBIj:ij:jh\4ytɮvIIO>Q  DAT read: 03:59:21.6467 LVL= 31280, 32753, 32754, 32755, AGC= 75, IDX= 432, 0.31,-2.186, 2.622,-2.463,-2.433, PHS= 0.349,-1.184,-0.074, RAW= 134.5, 13.2, CAL= 133.8, 14.3, ROT= 16.2, -14.3  Ygot valid direction response: 03:59:21.6467 LVL= 31280, 32753, 32754, 32755, AGC= 75, IDX= 432, 0.31,-2.186, 2.622,-2.463,-2.433, PHS= 0.349,-1.184,-0.074, RAW= 134.5, 13.2, CAL= 133.8, 14.3, ROT= 16.2, -14.3  PDAT read: Bearing 218.4, 5.1 (Local)  ~Local bearing/azimuth received: Bearing 218.4, 5.1 (Local)  DAT read: Range 11 to 50 : 83.6 m (Round-trip 111.5 ms) speed 0.3 m/s  RDAT read: user:25>Tx time:03:59:22.7311 Ϻ,SY톻?A=R#Rx 1: Read range and direction messages.j\direction in FSK: [0.930540,0.270347,0.246999]nFpublishing direction and range infoy"q'?gu\M?⩝?Y3B0z )KI!>iPP<@k>t@ r>)Ð>IrFz$)?kf7?Ĩ4? >9)߹kIÐ>ir2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.YKByHYiMb@Mb@Mb@ 9MbX9?~jt~jtYʡ>yA&A A)$AYAbDVDyD%  =ٔ Q- >91Y1=5YFy5D5E=>9Q 5E\4=S?Q 9M\4=y)=(BYM>Q EM%;yM>Q IM?=cBI=;i=u;=P}\4y}Bɮ}QA}vEbEIjEMt4rEMƲ/E EE-E"EI;*EVEt4ZEa@a@a@a@DAT read: 2Acoustic response timeoutB>BBBBBBBM;B1CEii^놻?AJiBRiBji7n^?b _S@Ze6@}A4@R"q'?gu\M?⩝?ZiÐ>birjf@J@۟y:O@> @ZȜ?2/_`?p?ۼ?2i}B:iVB"i?*iFņBibB addTargetRange:: Added new target pos. range: 83.599998 m, deltaT: 3.778518 s, deltaX: -0.700005 m, approachRate: -0.185259 m/s, rangeRepo size: 3 jhDNOT Ignoring new targets: 87.95 m.RhQ9:Zh ProNav pure pursuit: ac range: 87.952766 m, nav range: 78.850426 m, bearing: 39.029395 deg, approach rate: -0.284663 m/s, LOS rate: nan deg/s, cmd heading: 39.004570 deg, new cmd heading: 39.029395 deg. HeadingCmd: 0.681191 target range: 87.952766 and range: 83.60 m.hb.?h*h"h hgfffdddjd`fT@Zd ?EFLBɢE)I MiI)MpܹIIiM2vIQIaOu?F,?A@6m§>6ȷ ?6q>ٱ6_ H VAHRS rotation from veh to nav: [[0.846470,-0.529622,0.054671],[0.514065,0.839683,0.175128],[-0.138659,-0.120136,0.983027]]6HG??8s??j?`?t?i6m§>I6C^;4Y^KBy^SHbDfVDfkyný%nK=ٔnQ-r>9pYp=rYFyrDv\Ev>xQ 5~\4z\?Q 9~\4z{x)z'BY|y~P>Q I?zBIz;iz :z6\4y ɮ A %B*** querying acoustic contact ***i! i!jh1=DNOT Ignoring new targets: 87.95 m.Rh=n:Zh9M ProNav pure pursuit: ac range: 87.952766 m, nav range: 78.730911 m, bearing: 39.048457 deg, approach rate: -0.326560 m/s, LOS rate: nan deg/s, cmd heading: 39.029395 deg, new cmd heading: 39.048457 deg. UHeadingCmd: 0.681524 target range: 87.952766 and range: 83.60 m.hU^x.?hQ*hQ"hQ hYgYfYfYfYdadadajdaZdmf?颕JLBɢr+p) Bi)պ顙i/~! I I O >Hl,+?A&2Acoustic response timeoutJ>Jڮ ?JQ>ٱJ VAHRS rotation from veh to nav: [[0.851193,-0.522546,0.049162],[0.507716,0.843520,0.175211],[-0.133025,-0.124178,0.983303]]JH`IJ+^;HYbKBybVH hh =p<=bDEVDEfy};%}A=ٔ} \Q->9Y=YFyDəE>Q 5\4f?Q 9\4v)'BYy>Q I?BI;i;\4yɮAjhDNOT Ignoring new targets: 87.95 m.Rh c:Zh  ProNav pure pursuit: ac range: 87.952766 m, nav range: 78.603691 m, bearing: 39.069630 deg, approach rate: -0.297800 m/s, LOS rate: nan deg/s, cmd heading: 39.048458 deg, new cmd heading: 39.069630 deg. HeadingCmd: 0.681894 target range: 87.952766 and range: 83.60 m.h.?h*h"h hg!f!f1f9d9dAdIjdYZde;? NLBɢP W) Di!))M7EAIIiMBKCBHBJBB =BBDB@;B"CE2Acoustic response timeoutԁ ^A 3>IA IQ Oe >[,E?A2n5>2Hq?2>ٱ2 :AHRS rotation from veh to nav: [[0.856259,-0.514788,0.042581],[0.500630,0.847357,0.177074],[-0.127236,-0.130304,0.983276]]2Hzf?$y!ͥ? *?? Y?@HI`˭`v?i2n5>I2 ^;0YB~KByBHHi Mb@Mb@Mb@     9  +?V-I +Y ȶ>y  94 A VA A) SA Y bD%VD%y5%5N=ٔ5qQ-=>99Y9==YFy=DEEE>IIQ 5U\4Mkq?Q 9]\4Mpu)M'BY]ø>Q E];y]e>Q I]?M,BIMj:iM:Mߧ\4yeBɮmAijh DNOT Ignoring new targets: 87.95 m.Rh:Zh% ProNav pure pursuit: ac range: 87.952766 m, nav range: 78.468941 m, bearing: 39.094905 deg, approach rate: -0.329259 m/s, LOS rate: nan deg/s, cmd heading: 39.069631 deg, new cmd heading: 39.094905 deg. MHeadingCmd: 0.682335 target range: 87.952766 and range: 83.60 m.hM.?hI*hI"hQ hQgQfQfYfYdYdYdYjdaZdeغ?RLBɢ) ETi)}Iji#E  E E *E "E ;*E :VE (N4ZE BE e2F?2=ٱ2 :AHRS rotation from veh to nav: [[0.861511,-0.506485,0.035668],[0.493051,0.851297,0.179428],[-0.121242,-0.136993,0.983124]]2H`?`5 C?%?=?? u?i2iw>I2/^;2ݑCYBuKByB=HbDJVDJyR`%RU=ٔV܀Q-V>9TYT=ZYFyZDZżEZ>\Q 5b\4^{?Q 9b\4^s)^w'BYdyfX>Q If?^qBI^ :i^:^K\4yhɮjʴAhjh|DNOT Ignoring new targets: 87.95 m.RhO:Zh ProNav pure pursuit: ac range: 87.952766 m, nav range: 78.338638 m, bearing: 39.120437 deg, approach rate: -0.354826 m/s, LOS rate: nan deg/s, cmd heading: 39.094907 deg, new cmd heading: 39.120437 deg. HeadingCmd: 0.682780 target range: 87.952766 and range: 83.60 m.h.?h*h"h hg!f!f!f!d)d)d)jd)Zd- t?ԹVLBɢm).9P= `i)i]I I1 O] >A ,VJy?AYrPKByrHIv%>)vt>v>v=imMb@Mb@Mb@iiii i9mT㥛 ?S㥛Q롿Ym>ym/ݼm\BBBvHBJBBBBB);B CEE EE&E"Ef;*E՚:VE4ZEBEW<2EW<JE;:E;mAmA mA)mAiYi2Acoustic response timeoutbDVDβy%8=ٔQ->9Y=YFyDE>Q 5\4e?Q 9\4*r)T'BYX>Q E ;y>Q I?BI ;i/;\4yɮ A ԑjhDNOT Ignoring new targets: 87.95 m.Rhy:Zh ProNav pure pursuit: ac range: 87.952766 m, nav range: 78.178864 m, bearing: 39.150087 deg, approach rate: -0.341979 m/s, LOS rate: nan deg/s, cmd heading: 39.120438 deg, new cmd heading: 39.150087 deg.  HeadingCmd: 0.683298 target range: 87.952766 and range: 83.60 m.h .?h *h "h  h gfffdddjdZd%@m\LBɢmUҐ)q u酾iq)u߫qqiuD,j?A2w>2.?2-U=ٱ2I2|^;2ۑCYNBKByRHbDfVDf0yrn %vC=ٔzGQ-~>9~ ?Y~ ?=~YFy~D9E >Q 5%\4?Q 9-\4p)6'BY1y5G>Q I5?BI{;iu;\4yEBɮM9AMwEԉB*** querying acoustic contact ***i ijh%DNOT Ignoring new targets: 87.95 m.Rhe:Zhiu ProNav pure pursuit: ac range: 87.952766 m, nav range: 78.027069 m, bearing: 39.180781 deg, approach rate: -0.358032 m/s, LOS rate: nan deg/s, cmd heading: 39.150088 deg, new cmd heading: 39.180781 deg. }HeadingCmd: 0.683834 target range: 87.952766 and range: 83.60 m.h}/?hy*hy"hy hgffD%=D!E- E-E-+E)"E- ;*E-Z:VE- [4ZE)a5@a5@a5@a5@e2Acoustic response timeoutfydyddjdZd6@aLBɢ)N) Ǐi)˺iҖ) Ae ؟AI I O >e.,?A4HJ@df>>=ٱ% AHRS rotation from veh to nav: [[0.877696,-0.479077,0.011621],[0.468585,0.863048,0.188618],[-0.100392,-0.160104,0.981982]]H? 4޿̇?K??$?CE~Ŀ`el?idf>Is,^;ݑCY1KByHiMb@Mb@Mb@ 9K7?:v~jtY>yԼļA A QA)AYµAbDVD1y%%%=ٔ--jQ-->9-"?Y-"?=-YFy5D5?E5>9Q 5E\4=W?Q 9E\4=Sn)='BYM>Q EM;yMe>Q IM?=BI=Q:i=:=\4yUBɮU!A]nEjhyDNOT Ignoring new targets: 87.95 m.Rh:Zhԑ ProNav pure pursuit: ac range: 87.952766 m, nav range: 77.829567 m, bearing: 39.220868 deg, approach rate: -0.396509 m/s, LOS rate: nan deg/s, cmd heading: 39.180783 deg, new cmd heading: 39.220868 deg. HeadingCmd: 0.684533 target range: 87.952766 and range: 83.60 m.h=/?h*h"h hgfffdddjdZd @gLBɢ e) Úi)i)=<B<A<B>BLCB]HBJBBBBB ;BBEE EE(E"EO;*E:VEc44ZEBE-Y$z>I=/?I9 g>ːC=:GUhAi 9hAYA @p= @!  @! @! @! iߡ Iߡ  2Acoustic response timeout ^A%;>IAU.AIaIqO}?+,Pه?AxY~KBy~H AbD VD y%%%=ٔ%Q-->9- ?Y- ?=-YFy-DEEE>IE EE,E"E;*E*:VEg4ZEa@a@a@a@2Acoustic response timeoutQ 5\4M?Q 9\4Ml)M&BYy!Q I%?MBIMx#>IBm/?I9!O=U9@Q @Q@U/@Q^A->QA] ؟AIi  2Acoustic response timeoutI O >y T,p?AQeb>e'>e=ٱeW73 uAHRS rotation from veh to nav: [[0.888933,-0.458010,-0.004944],[0.450280,0.871849,0.192684],[-0.083940,-0.173509,0.981249]]eH#r? Pݿ@tb?`0?ک?}5ƿ`cf?ieb>Ie^;eܑCYKByHiMb@Mb@Mb@ 9㥛 ?V-:vY>yTfA9A īA)fAY=AbDVDy0%0=ٔQ->9"?Y"?=YFy D>E >Q 5]4É?Q 9]4"j)&BY>Q E:y>Q I?NBI:i:]4y)ɮ-fA)jhQUDNOT Ignoring new targets: 87.95 m.Rh]N:ZhY ProNav pure pursuit: ac range: 87.952766 m, nav range: 77.441154 m, bearing: 39.303294 deg, approach rate: -0.422406 m/s, LOS rate: nan deg/s, cmd heading: 39.262557 deg, new cmd heading: 39.303294 deg.  HeadingCmd: 0.685972 target range: 87.952766 and range: 83.60 m.h ڛ/?h*h"h hgfffddd!jdAZdEH@Bm>BiBmQHBmJBBm =BiBmºDBm;BmBEԁ颕tLBɢ̼) i)?%顙E EE+E"E;*E1:VE [4ZEBE]{=Iڛ/?I2Acoustic response timeout9ԩa 9@  @ @ /@ @ @  2Acoustic response timeout^AXiy>1AqIIO?, ?Aɰ:h>:)>:b6=ٱ:h@ FAHRS rotation from veh to nav: [[0.900317,-0.434718,-0.021224],[0.430056,0.881043,0.197018],[-0.066948,-0.186506,0.980170]]:He?iۿ@? 1?7?#pǿ]?i:h>I:}6^;:ڑCYj KByjHr=r=prBAbDvVDvy~9%~=ٔ~hQ->9Y=YFyD 8E >Q 5]4ԉ?Q 9]4h)&BYy%#>Q I%?BI:i:]4y-Bɮ-A-oEMB*** querying acoustic contact ***iI iIjhQ]DNOT Ignoring new targets: 87.95 m.Rh]I:Zham ProNav pure pursuit: ac range: 87.952766 m, nav range: 77.236923 m, bearing: 39.352602 deg, approach rate: -0.395983 m/s, LOS rate: nan deg/s, cmd heading: 39.303292 deg, new cmd heading: 39.352602 deg. uHeadingCmd: 0.686832 target range: 87.952766 and range: 83.60 m.huA/?hq*hy"hy hygyfyffdddjdZd`&@颵{LBɢyӼ)(= i)<项i&AiIqIO> E 2Acoustic response timeout) i ,2?ABN\>Bx>B\3m=ٱBt H JAHRS rotation from veh to nav: [[0.906080,-0.422044,-0.029967],[0.419130,0.885620,0.200020],[-0.057878,-0.193794,0.979333]]BH ? ۿ?@V?B?-`@ȿV?iBN\>IB^;BݑCY^JBy^HbDVDJy5%O%=G=ٔEQ-M>9QYY=]YFyeDmEu>Q 5-]4I≊?Q 9U]4xf)&BYYyeŷ>Q Ie?BI?=i<)]4yɮA jhIMDNOT Ignoring new targets: 87.95 m.RhUC:ZhQ] ProNav pure pursuit: ac range: 87.952766 m, nav range: 77.071587 m, bearing: 39.394420 deg, approach rate: -0.353999 m/s, LOS rate: nan deg/s, cmd heading: 39.352603 deg, new cmd heading: 39.394420 deg. eHeadingCmd: 0.687562 target range: 87.952766 and range: 83.60 m.h0?h*h"h hgfffdddjdZd@颅LBɢ>F) Ǿi)T顉iãB B DHB JBB  =B B B ދ;B BEbE [4jE-W4rE#e0Ee EeEe/Ea"Ee~ ;*Ee:VEeJ4ZEaBEe V2Acoustic response timeout9UB9u9@q @y@y@@>@=a ^Am S<>A I I O >,$|L?A 2 ;O>2J>2ڶH=ٱ2N >AHRS rotation from veh to nav: [[0.911793,-0.408882,-0.038077],[0.407719,0.890323,0.202708],[-0.048983,-0.200352,0.978499]]2Hg-?+ڿ~? }? W?@I`&ɿ`O?i2 ;O>I2 ^;2ܑCYFJByFH2Acoustic response timeoutieMb@Mb@Mb@aaaa a9e}?5^I?Mb`YeM>ye̼eexAedA eA)eAaYe3AbD}VD}yp%E=ٔаQ->9Y=YFy'DE>Q 5]4k?Q 9]4d)&BY>Q E:yv>Q I?qBI;i^;7]4yBɮӵApEjhDNOT Ignoring new targets: 87.95 m.RhR;Zh ProNav pure pursuit: ac range: 87.952766 m, nav range: 76.901390 m, bearing: 39.436924 deg, approach rate: -0.476177 m/s, LOS rate: nan deg/s, cmd heading: 39.394421 deg, new cmd heading: 39.436924 deg. HeadingCmd: 0.688304 target range: 87.952766 and range: 83.60 m.h40?h*h"h hg f f f dddjdZd`Q@ELBɢE )A EWѾiI)MgIIiMԙAiE} E}E},Ey"E}=;*E}h:VE}g4ZEya@a@a@a@II߱ߵ4=2Acoustic response timeoutO> %,S]f?A2B>2>2 !$=ٱ2BU :AHRS rotation from veh to nav: [[0.917308,-0.395514,-0.045994],[0.396159,0.894923,0.205355],[-0.040060,-0.206594,0.977606]]2HZ?@PٿvZ?`6?I?@ qʿH?i2B>I2^;0YBJByByH DDHJALbDNVDNyV!%VY=ٔZe¼Q-Z>9XY\=^YFy^/D^k Eb>`Q 5f]4b?Q 9j]4bGc)b&BYhyj>Q Ij?bBIby:ibN:bD]4ylɮrApjh DNOT Ignoring new targets: 87.95 m.Rh r:Zh ProNav pure pursuit: ac range: 87.952766 m, nav range: 76.744209 m, bearing: 39.478028 deg, approach rate: -0.417792 m/s, LOS rate: nan deg/s, cmd heading: 39.436925 deg, new cmd heading: 39.478028 deg. %HeadingCmd: 0.689022 target range: 87.952766 and range: 83.60 m.h%c0?h!*h)"h) h)g)f)f1f1d1d1d9jd9Zd=@eLBɢe)i my۾ii)m|iiius~ ,2?AYvJByv~H|iuMb@Mb@Mb@qqqq q9u/$?I +Yu>yu9uuAu¢A uzA)qqYuAbDVD1y"<%<=ٔQ->9Y=YFy8DE>Q 5]4` ?Q 9]4ka)&BYL>Q E:yԸ>Q I?-BI: ;i ;T]4yɮAjhDNOT Ignoring new targets: 87.95 m.Rh:Zh  ProNav pure pursuit: ac range: 87.952766 m, nav range: 76.554764 m, bearing: 39.526287 deg, approach rate: -0.436606 m/s, LOS rate: nan deg/s, cmd heading: 39.478029 deg, new cmd heading: 39.526287 deg. HeadingCmd: 0.689864 target range: 87.952766 and range: 83.60 m.h0?h*h"h hgfff!d!d!d!jd!Zd- <@ULBɢU)Y ]ܾiY)] YYi]ԁ D6&,?A2P ,>2ɳ>2@<ٱ2[ :AHRS rotation from veh to nav: [[0.926129,-0.372489,-0.059479],[0.376515,0.903308,0.205600],[-0.022856,-0.212806,0.976827]]2Hآ?@׿s??Q?g ;=˿*B?i2P ,>I2o ^;0YBJByBrHbDJVDJyRGѼ%R\=ٔVw=Q-V>9TYT=VYFyV?DZmEZ>\Q 5b]4^?Q 9b]4^_)^&BY`yfح>Q If?^BI^{;i^:^a]4yjBɮjAjqEzB*** querying acoustic contact ***ix ixjh|DNOT Ignoring new targets: 87.95 m.Rh;Zh ProNav pure pursuit: ac range: 87.952766 m, nav range: 76.393486 m, bearing: 39.570493 deg, approach rate: -0.432721 m/s, LOS rate: nan deg/s, cmd heading: 39.526288 deg, new cmd heading: 39.570493 deg. HeadingCmd: 0.690635 target range: 87.952766 and range: 83.60 m.h{0?h*h"h! h!g!f!f)f)d)d)d)jd1Zd5 @YeLBɢeD)a etii)muiiimS 2>2|r<ٱ2p] >AHRS rotation from veh to nav: [[0.929291,-0.363436,-0.065825],[0.369052,0.906538,0.204912],[-0.014800,-0.214716,0.976565]]2H?`B׿ٰ?@\?:?8O{˿@@?i2#>I2];2ݑCYBJByByHIJ=)J4y]`e];]`AY ]A)]zAYY]AbD}VD}BBMCBQHBJBBBBB;BBEy*<%=ٔtQ->9 ?Y ?=YFyJDvE>Q 5]4/?Q 9]4])&BYk>Q E:ym>Q I? BI1;i$1;s]4yɮAjh DNOT Ignoring new targets: 87.95 m.Rh O ;Zh  ProNav pure pursuit: ac range: 87.952766 m, nav range: 76.147507 m, bearing: 39.635609 deg, approach rate: -0.455313 m/s, LOS rate: nan deg/s, cmd heading: 39.570493 deg, new cmd heading: 39.635609 deg. E- E-E-*E)"E-l;*E-:VE-(N4ZE)BE)a52E)a5JE-;a=:E-;a=EHeadingCmd: 0.691772 target range: 87.952766 and range: 83.60 m.hE1?hA*hA"hA hAgIfIfIfIdQdQdQjdQZd] 9@e=e%=m2Acoustic response timeout-LBɢ-t()5= 5=i1)5$11i5J@e > 2Acoustic response timeout^A5 .=Q Ae ؟AIq I O >4,Ԉ?A2>29>2~;ٱ2 )\ >AHRS rotation from veh to nav: [[0.931750,-0.356082,-0.071045],[0.363032,0.909775,0.201289],[-0.007040,-0.213343,0.976952]]2H? ֿ0;??@? |N˿1C?i2>I2G^;2ܑCYBJByFiHbDNVDNyVF%VW=ٔZqQ-Z>9Z"?YZ"?=^YFy^RD^TE^>`Q 5f]4b1>?Q 9j]4b[)b&BYhyn>Q In?biBIbrY;ib'[;b7]4yzBɮzA|jh9EDNOT Ignoring new targets: 87.95 m.RhUr ;ZhQ ProNav pure pursuit: ac range: 87.952766 m, nav range: 75.974945 m, bearing: 39.682516 deg, approach rate: -0.447471 m/s, LOS rate: nan deg/s, cmd heading: 39.635608 deg, new cmd heading: 39.682516 deg. HeadingCmd: 0.692591 target range: 87.952766 and range: 83.60 m.hM1?h*h"h hgfffddd!jd!Zd-@!@uLBɢu)q uiq)}A yyi}'i ;,?A6(>6*A>6ٱ6%X >AHRS rotation from veh to nav: [[0.933862,-0.349569,-0.075515],[0.357633,0.913096,0.195841],[0.000493,-0.209896,0.977724]]6H 3?W_ֿ Ts?8?U? #@?ʿ I?i6(>I6I^;R2Acoustic response timeout6ݑCYJByZHbDVDk1y5"%55=ٔ=Q-=>9= ?Y= ?==YFyE[DE9REE>IQ 5U]4QMO?Q 9]]4MY)M&BYYy]>Q I]?MBIM+;iM,;M]4yiɮm4AijhDNOT Ignoring new targets: 87.95 m.Rh;Zh ProNav pure pursuit: ac range: 87.952766 m, nav range: 75.770096 m, bearing: 39.739525 deg, approach rate: -0.460065 m/s, LOS rate: nan deg/s, cmd heading: 39.682518 deg, new cmd heading: 39.739525 deg. HeadingCmd: 0.693586 target range: 87.952766 and range: 83.60 m.hӎ1?h*h"h1 h1g1f1f9f9d9d9d9jdAZdEL @LBɢ ) &iQ)]"aaiBmLCBmjHBmJBBm =BiBiBmƋ;BmBEB)B)B)B-Ǎ =B-Ǎ =C-!5E% E%E%(E!"E%%;*E%Z:VE%c44ZE!BE%KA$B,?AYJByiHiMb@Mb@Mb@ 9Mb?{Gz9"?Y"?=YFycDE>Q 5]4_?Q 9]4"X)&BY?Q E:y]>Q I?BBI:i;]4yBɮ#ArEjh9=DNOT Ignoring new targets: 87.95 m.RhE;ZhAU ProNav pure pursuit: ac range: 87.952766 m, nav range: 75.575844 m, bearing: 39.792169 deg, approach rate: -0.482645 m/s, LOS rate: nan deg/s, cmd heading: 39.739526 deg, new cmd heading: 39.792169 deg. ]HeadingCmd: 0.694504 target range: 87.952766 and range: 83.60 m.h] 1?hY*hY"hY hYgYfafafaididqdqjdqZdu!@颥LBɢI') i)0̻顩iE  E E E "E l;*E VE ZE a @a @a @a @  4= 2Acoustic response timeout hIH,"?A2>2h>2Coiٱ2I :AHRS rotation from veh to nav: [[0.935612,-0.343352,-0.082093],[0.352742,0.918608,0.178139],[0.014247,-0.195627,0.980575]]2H ?@yտQ?;e?A?-?K ɿ`?i2>I2^;2ܑCYvJByvbHbDVDy ؃%Y=ٔQ->9Y=YFykD%]bE%>)Q 5-]4- o?Q 95]4-lV)-&BY1y5>Q I5?-BI-6:i-N:-:]4yAɮE0AA]B*** querying acoustic contact ***iY iYjhimDNOT Ignoring new targets: 87.95 m.Rhu;Zhq ProNav pure pursuit: ac range: 87.952766 m, nav range: 75.395103 m, bearing: 39.842266 deg, approach rate: -0.480393 m/s, LOS rate: nan deg/s, cmd heading: 39.792170 deg, new cmd heading: 39.842266 deg. HeadingCmd: 0.695379 target range: 87.952766 and range: 83.60 m.hW2?h*h"h hgfffdddjdZd.!@LBɢB-) i)\_ػi¶Q uN,v6!>6g%ٱ6; >AHRS rotation from veh to nav: [[0.934529,-0.346039,-0.083142],[0.355323,0.920380,0.163236],[0.020036,-0.182091,0.983078]]6H@?%ֿH?`s??R?Nǿ_u?i6>I6^;4YFJByFZHBb>B`BbvHBbJBB`B`B`Bb;BbBEi5Mb@Mb@Mb@1111 195Q?Mbp{Gz?Y5?y55#<5A5A 55A)5A1Y5׷AbDMVDM:E EE*E"E;*E?:VE(N4ZEBE9Y=YFytD;E>Q 5%]4?Q 9%]4ET)&BY%?Q E%:y%>Q I-?BI<:i:r]4yUBɮUEAUsEjhDNOT Ignoring new targets: 87.95 m.Rhk;Zh ProNav pure pursuit: ac range: 87.952766 m, nav range: 75.175308 m, bearing: 39.900780 deg, approach rate: -0.495809 m/s, LOS rate: nan deg/s, cmd heading: 39.842266 deg, new cmd heading: 39.900780 deg. HeadingCmd: 0.696400 target range: 87.952766 and range: 83.60 m.hEG2?h*h"h hgfffdddjd Zd `J"@)]LBɢ]%)Y ]viY)]aaieSm^U,„V?A0j}o>jd>j1Ѽٱj* zAHRS rotation from veh to nav: [[0.932056,-0.352620,-0.083247],[0.361414,0.921049,0.145079],[0.025517,-0.165309,0.985912]]jHg?`TֿOh!?Ij_;jޑCYJByVHbDVDy%T%%W=ٔ-9lQ-->9)Y1=5YFy5{D=`<E=>AQ 5M]4EX?Q 9M]4E`R)E&BYIyU3>Q IU?EBIE;iE<;E]4y]Bɮ]UAYjhDNOT Ignoring new targets: 87.95 m.Rh;Zh ProNav pure pursuit: ac range: 87.952766 m, nav range: 74.984856 m, bearing: 39.950761 deg, approach rate: -0.516758 m/s, LOS rate: nan deg/s, cmd heading: 39.900780 deg, new cmd heading: 39.950761 deg. HeadingCmd: 0.697272 target range: 87.952766 and range: 83.60 m.hp2?h*h"h hgfffdddjdZdr#@LBɢ0<) i),i9ͱ[,Sp?A"2Acoustic response timeout6-z&>66>6ٱ6LC >AHRS rotation from veh to nav: [[0.927982,-0.363858,-0.080356],[0.371394,0.920672,0.120126],[0.030272,-0.141318,0.989501]]6H?`sI׿@1`?$v???¿?i6-z&>I6^;6ܑCYFJByF_HbDRVDRyZ<%ZR=ٔ^HQ-^>`9`Y`=bYFybDf7<Ef>hQ 5n]4j?Q 9n]4j^P)j&BYpyry>Q Ir?jBIj2 ;ij` ;j2]4ytɮvGAtjhDNOT Ignoring new targets: 87.95 m.Rhe;Zh ProNav pure pursuit: ac range: 87.952766 m, nav range: 74.787781 m, bearing: 40.001027 deg, approach rate: -0.486815 m/s, LOS rate: nan deg/s, cmd heading: 39.950760 deg, new cmd heading: 40.001027 deg. HeadingCmd: 0.698150 target range: 87.952766 and range: 83.60 m.h2?h*h"h hgfffdddjdZd4D$@-LBɢ52)1 &i)i7*B B HB JBB  =B B B ;B zBEbEAjEEU4rEE/E EEE"E;*EVEZEBE4NA nb,L4?A2m6>2>26 ٱ2 :AHRS rotation from veh to nav: [[0.921962,-0.380034,-0.074568],[0.385752,0.918229,0.089726],[0.034371,-0.111489,0.993171]]2H ?zRؿ +?!b?I?#??i2m6>I2!u^;2ݑCYBJByBgHi Mb@Mb@Mb@     9 /$?~jth?Y &?y  D; bA 7A ) zA Y AbD-VD-N2y={<%=B=ٔ=tQ-=>9AYA=EYFyEDM=EM>QQ 5]]4U%?Q 9]]4UM)U&BY]'?Q E]:y]1>Q Ie?UgBIU;iUh;U]4ymBɮm AmkEjh%DNOT Ignoring new targets: 87.95 m.Rh];Zhq} ProNav pure pursuit: ac range: 87.952766 m, nav range: 74.560295 m, bearing: 40.055358 deg, approach rate: -0.562348 m/s, LOS rate: nan deg/s, cmd heading: 40.001027 deg, new cmd heading: 40.055358 deg. HeadingCmd: 0.699098 target range: 87.952766 and range: 83.60 m.h2?h*h"h hgfffdddjdZd C%@LBɢr2) i))- 6)1i5lh,?A6J>6|>6@ٱ6nx BAHRS rotation from veh to nav: [[0.913959,-0.400339,-0.066396],[0.404034,0.912981,0.056762],[0.037895,-0.078705,0.996177]]6H&??'ٿ[?#7?`? f?%?i6J>I6O^;6ޑCYFJByJpH \\\^A b;`bDfVDfky~<%~J=ٔ~Q-~>9Y=YFyD #J=E >11Q 5=]45Ŋ?Q 9=]45K)5&BYAyET>Q IE?5BI56:i5 :5 ]4yIɮMAQB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 87.95 m.RhG;Zh ProNav pure pursuit: ac range: 87.952766 m, nav range: 74.340164 m, bearing: 40.104601 deg, approach rate: -0.527137 m/s, LOS rate: nan deg/s, cmd heading: 40.055358 deg, new cmd heading: 40.104601 deg. HeadingCmd: 0.699957 target range: 87.952766 and range: 83.60 m.hg03?h*h"h hgfffdddjdZd %@=LBɢ=5)=&/< =iA)EyxaaieS n,k?AB2<A2<B6>B6KCB6HB6JBB6 =B4B6DB6~;B6^BEB]uc>Bg>Bo(ٱB 2 JAHRS rotation from veh to nav: [[0.903882,-0.424136,-0.055725],[0.425801,0.904551,0.021917],[0.041111,-0.043538,0.998205]]BH? %ۿ@R@??`Uq?x ?JL?iB]uc>IB+^;BߑCYRJByReHEE EEEE+EA"EE ;*EEM:VEE [4ZEABEEO9Y=YFyDc=E>Q 5^4ي?Q 9^4H)&BY?Q E:yb>Q I?]BIt;i;^4yBɮ A jh)5DNOT Ignoring new targets: 87.95 m.Rh=#;Zh9E ProNav pure pursuit: ac range: 87.952766 m, nav range: 74.099625 m, bearing: 40.157161 deg, approach rate: -0.574837 m/s, LOS rate: nan deg/s, cmd heading: 40.104600 deg, new cmd heading: 40.157161 deg. MHeadingCmd: 0.700875 target range: 87.952766 and range: 83.60 m.hMl3?hI*hI"hQ hQgQfQfYfYdYdYdajdaZdeK&@ELBɢEP?)I Mc ii)mUiiiu I}l3?Iyt99@ @@/@^Auc- 2Acoustic response timeoutA I I O >9 u,C؉?A2*~>2 >24ٱ2> :AHRS rotation from veh to nav: [[0.892363,-0.449210,-0.043563],[0.449172,0.893375,-0.011217],[0.043957,-0.009558,0.998988]]2H=?ܿܿM;??`}? ?i2*~>I2{^;2ޑCYBJByFuHbDNVDNNyV==%V`=ٔVQ-V>9XYX=ZYFyZDZG=E^>Q 5^4銊?Q 9%^4LF)'BY!y%>Q I%?BI;i;A^4y)ɮ-A1jhY]DNOT Ignoring new targets: 87.95 m.Rhe:Zhau ProNav pure pursuit: ac range: 87.952766 m, nav range: 73.888374 m, bearing: 40.199012 deg, approach rate: -0.560881 m/s, LOS rate: nan deg/s, cmd heading: 40.157161 deg, new cmd heading: 40.199012 deg. uHeadingCmd: 0.701605 target range: 87.952766 and range: 83.60 m.h}d3?hy*hy"hy hygyfffdddjdZd ~'@颽LBɢRJ) i)i(ԙ ] 2Acoustic response timeout{,Y2?A2>2Y>2?ٱ2@< :AHRS rotation from veh to nav: [[0.880012,-0.473853,-0.032281],[0.472639,0.880401,-0.038816],[0.046814,0.018902,0.998725]]2H)? S޿(??>,?`ߣ@?Z??i2>I2^;2ߑCY@y@IF=)Fp;J=J=bDNVDNٔV`Q-V>9XYX=ZYFyZD^=E^>`Q 5b^4b?Q 9f^4bC)b 'BYdyfo>Q If?bABIb:ib:b ^4ynBɮn AnlEjhDNOT Ignoring new targets: 87.95 m.Rh W:Zh  ProNav pure pursuit: ac range: 87.952766 m, nav range: 73.665573 m, bearing: 40.238531 deg, approach rate: -0.565951 m/s, LOS rate: nan deg/s, cmd heading: 40.199010 deg, new cmd heading: 40.238531 deg. HeadingCmd: 0.702295 target range: 87.952766 and range: 83.60 m.h3?h*h"h hgfffdddjdZdyR(@i额LBɢu>) " ia)et$aiim^߲BYBYBYB] =BYBYB];B]`BEEU EUEU.EQ"EU;*EU:VEUـ4ZEQBEUDTx time:03:59:35.1811 ,f?A>>>a?>Lٱ>= VAHRS rotation from veh to nav: [[0.867699,-0.496448,-0.025266],[0.494575,0.867298,-0.056473],[0.049949,0.036505,0.998084]]>H/?߿Pߙ@??`鬿 䒩?Ұ?N?Xi>>I>^;9Y=YFyDQN=E>Q 5^45?Q 9^4?)'BYR?Q E:y>Q I?BI:if:.^4yBɮAmEjhy}DNOT Ignoring new targets: 87.95 m.Rh:Zh ProNav pure pursuit: ac range: 87.952766 m, nav range: 73.382683 m, bearing: 40.286679 deg, approach rate: -0.543839 m/s, LOS rate: nan deg/s, cmd heading: 40.238530 deg, new cmd heading: 40.286679 deg. HeadingCmd: 0.703135 target range: 87.952766 and range: 83.60 m.h4?h*h"h hgff)f)d)d)d1jd1Zd=[)@颽 MBɢAz8) 'i)_- i 0Y,-*?Amga>mD?miٱmQ'E= AHRS rotation from veh to nav: [[0.843448,-0.536745,-0.022369],[0.534177,0.842376,-0.071119],[0.057016,0.048036,0.997217]]mH?- 疿??4@41?@8?3?imga>Im׃^;mCYJByIHbDVDy%6=ٔQ->9Y=YFyD=E>Q 5 ^4#?Q 9^4|<)'BYy?Q I?[BIq ;i ;4>^4yɮ%]A!=B*** querying acoustic contact ***i9 i9jhIMDNOT Ignoring new targets: 87.95 m.RhU߶:ZhQe ProNav pure pursuit: ac range: 87.952766 m, nav range: 73.126381 m, bearing: 40.320888 deg, approach rate: -0.596832 m/s, LOS rate: nan deg/s, cmd heading: 40.286679 deg, new cmd heading: 40.320888 deg. eHeadingCmd: 0.703732 target range: 87.952766 and range: 83.60 m.hm'4?hi*hi"hi higifqfqfqdqdydyjdyZd}-*@颭MBɢX) !i)5顱iBi Bm HBm JBBm =Bi Bi Bi Bi B KCB B B ʎ =B ʎ =C -5ԩ ] 9@a  @a @e 0@a Em  Em Em /Ei "Em l;*Em :VEm J4ZEi BEm ^FM ƐC G gA  fп9 gAY xA ^Ad)AfAzAfAAIIO-?u,FP?AYJBygH  E2Acoustic response timeoutiMb@Mb@Mb@ 9Q?X9v{GzY?yף-AZA θA)AYzAbDVDy?-=%=ٔQ->9Y=YFyDE>Q 5 ^4A;?Q 9 ^4:8)&'BY?Q E:yj?Q I?BI:i':Q^4yBɮ8A%nEjhAMDNOT Ignoring new targets: 87.95 m.RhM:ZhI] ProNav pure pursuit: ac range: 87.952766 m, nav range: 72.802773 m, bearing: 40.369974 deg, approach rate: -0.575871 m/s, LOS rate: nan deg/s, cmd heading: 40.320888 deg, new cmd heading: 40.369974 deg. eHeadingCmd: 0.704589 target range: 87.952766 and range: 83.60 m.he_4?ha*ha"ha higifififqdqdqdqjdyZd}M+@颥 MBɢx>) Ei)^w@顱ip5DzDAAE EE-E"E~ ;*E?:VEt4ZEa@a@a@a@2Acoustic response timeoutԁ ,ci?A2C>2x?2ٱ2>= :AHRS rotation from veh to nav: [[0.821735,-0.568974,-0.031931],[0.566292,0.821562,-0.065950],[0.063757,0.036111,0.997312]]2HK? 5BY?I2n^;2ޑCY^JByblHbDjVDj0yr-<%r_=ٔrQ-r>9tYt=vYFyvDz=Ez>|Q 5^4~J?Q 9 ^4~D5)~,'BY y > ?Q I ?~qBI~F;i~5;~^^4yɮ0AjhDNOT Ignoring new targets: 87.95 m.Rh%֕:Zh!m ProNav pure pursuit: ac range: 87.952766 m, nav range: 72.590538 m, bearing: 40.395782 deg, approach rate: -0.537070 m/s, LOS rate: nan deg/s, cmd heading: 40.369973 deg, new cmd heading: 40.395782 deg. uHeadingCmd: 0.705039 target range: 87.952766 and range: 83.60 m.qhuv}4?hy*hy"hy hygyfyffdddjdZd,@颕*MBɢ@[) i)IH顙iB >B B HB JBB =B B B ;B kBEE  E E )E "E ;*E 1:VE FA4ZE BE yT!>> ?>ٱ>y< FAHRS rotation from veh to nav: [[0.811656,-0.582922,-0.037645],[0.580324,0.812033,-0.061861],[0.066629,0.028364,0.997375]]>H ?L@1F@?,?B?^ ? ~?i>!>I>gh^;>CY~JBy~zHiMb@Mb@Mb@ 9M?ˡE~jtYn?y' A)Y=AbDVDܲy<%:=ֻٔQ->9 ?Y ?=YFyD!=E> Q 5^4 \?Q 9^4 1) 4'BY?Q E:y ?Q I? BI  ;i  ; n^4y%Bɮ%$A!jhIMDNOT Ignoring new targets: 87.95 m.RhU:ZhQe ProNav pure pursuit: ac range: 87.952766 m, nav range: 72.341766 m, bearing: 40.426552 deg, approach rate: -0.606191 m/s, LOS rate: nan deg/s, cmd heading: 40.395781 deg, new cmd heading: 40.426552 deg. mHeadingCmd: 0.705576 target range: 87.952766 and range: 83.60 m.hm4?hi*hi"hi higifqfqfydydydyjdyZd,@颭3MBɢ\) %i)vP顱i 99@ @@/@ ^A/[A>A}2Acoustic response timeoutI AM ؟AIa Iy O >,?A2U>2R#?2ٱ2ǡ< >AHRS rotation from veh to nav: [[0.802088,-0.595566,-0.044224],[0.593134,0.803065,-0.057263],[0.069618,0.019699,0.997379]]2Hപ?`@x?ല?Q@ұ?,??i2U>I2,1^;0Y^JBy^|HIb=)b4=bDjVDjyrf;%r]=ٔrQ-r>9v"?Yv"?=vYFyvDz1=Ez>|Q 5^4~k?Q 9^4~.)~<'BYy?Q I?~^BI~w;i~;~z^4yBɮAeEjh9=DNOT Ignoring new targets: 87.95 m.RhE:ZhAM ProNav pure pursuit: ac range: 87.952766 m, nav range: 72.132301 m, bearing: 40.449953 deg, approach rate: -0.568025 m/s, LOS rate: nan deg/s, cmd heading: 40.426551 deg, new cmd heading: 40.449953 deg. UHeadingCmd: 0.705985 target range: 87.952766 and range: 83.60 m.hUm4?hQ*hY"hY hYgYfYfafadadadijdiZdm Ѧ-@颕=,z?A6>6V&?6R ٱ6;< BAHRS rotation from veh to nav: [[0.794148,-0.605418,-0.052889],[0.603412,0.795871,-0.049835],[0.072264,0.007662,0.997356]]6Hi?_ U&O? w??ob?@W?i6>I6a^;4YJJByJHbDVVDVNy^װ<%^L=ٔbCٻQ-b>9`Y`=fYFyfDfI=Ef>hQ 5n^4j{?Q 9r^4j+)jE'BYpyr?Q Ir?jBIjz ;ij$:j^4yvBɮvAzfE B*** querying acoustic contact ***i  i jhDNOT Ignoring new targets: 87.95 m.Rh%:Zh!5 ProNav pure pursuit: ac range: 87.952766 m, nav range: 71.904778 m, bearing: 40.473204 deg, approach rate: -0.567613 m/s, LOS rate: nan deg/s, cmd heading: 40.449955 deg, new cmd heading: 40.473204 deg. HeadingCmd: 0.706391 target range: 87.952766 and range: 83.60 m.h4?h*h"h hgfffdddjdZd /|.@GMBɢ,`) ci)z_i%ΰBIBMHBMJBBM =BIBIBMo;BMIBE69bE t4jE Ye4rE b0E EEE"E;*E:VEZEBE4N ",qYъ?A6~>6Q)?6eәٱ6Y >AHRS rotation from veh to nav: [[0.787433,-0.613271,-0.062033],[0.611816,0.789860,-0.042465],[0.075040,-0.004515,0.997170]]6H2?¯ ?F?𽥿 5?}r?i6~>I6P^;4YFJByFHliMb@Mb@Mb@ 9S?y&1|Y?yL`ίAA θA)AYAE2Acoustic response timeoutbD5VD51yM'=%UB=ٔU%ػQ-U>9QYY=]YFy]DeC<Ee>aQ 5m^4e?Q 9u^4e)()eT'BYu?Q Eu:yu4?Q Iu?eMBIeH;ieL ;e^4yɮµAjhDNOT Ignoring new targets: 87.95 m.Rhӊ:Zh ProNav pure pursuit: ac range: 87.952766 m, nav range: 71.670448 m, bearing: 40.498703 deg, approach rate: -0.555845 m/s, LOS rate: nan deg/s, cmd heading: 40.473205 deg, new cmd heading: 40.498703 deg. HeadingCmd: 0.706836 target range: 87.952766 and range: 83.60 m.h04?h*h"h hgfffdddjdZdK/@RMBɢ\) i!)%g!!i% 3% DAT read: 03:59:37.6867 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 300,-0.28,-2.478, 1.864,-2.535,-2.674, PHS= 0.298,-1.700, 0.094, RAW= 144.7, 13.6, CAL= 144.3, 14.9, ROT= 5.7, -14.9 - Ygot valid direction response: 03:59:37.6867 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 300,-0.28,-2.478, 1.864,-2.535,-2.674, PHS= 0.298,-1.700, 0.094, RAW= 144.7, 13.6, CAL= 144.3, 14.9, ROT= 5.7, -14.9 5 PDAT read: Bearing 222.8, 9.3 (Local) 5 ~Local bearing/azimuth received: Bearing 222.8, 9.3 (Local) = DAT read: Range 11 to 50 : 76.0 m (Round-trip 101.4 ms) speed 0.5 m/s E RDAT read: user:27>Tx time:03:59:38.7811 M R#Rx 1: Read range and direction messages.U \direction in FSK: [0.961598,0.095980,0.257133]U Fpublishing direction and range infoysh?`%)?Fht?YB )GIu>iٿ=!@s>E/!@ %>)%=I%<٣A?gn?cw5? >)sI%=i%m 2Acoustic response timeoutu Querying Benthos address 50 with one ping in standard two-way mode.a M,6늻?A2D_>24+?2+ٱ2B >AHRS rotation from veh to nav: [[0.781445,-0.619910,-0.071102],[0.619124,0.784501,-0.035268],[0.077642,-0.016460,0.996845]]2H?L3??_? ې@(?i2D_>I2{^;2CYJJByJH PPbDZVDZyzm%zP=ٔ~ٻQ->9!Y!=%YFy%D-g<E->91Q 5e^45u?Q 9e^45$)5c'BYiym?Q Im?5BI59;i59;5^4yBɮյAiib䊻?AJieBRieBjiF?bhJ2R@ْ@&Uv3@Rsh?`%)?Fht?Zi%=bi%jͻ<I@QXK5 I@$@[8@Zl9?˭ԇ+?sq;?2iQHB:iKB"ie?*iBiVB% addTargetRange:: Added new target pos. range: 76.000000 m, deltaT: 15.880128 s, deltaX: -7.599998 m, approachRate: -0.478585 m/s, rangeRepo size: 4 jh!%DNOT Ignoring new targets: 87.95 m.Rh-w:Zh)] ProNav pure pursuit: ac range: 87.952766 m, nav range: 71.449387 m, bearing: 40.521235 deg, approach rate: -0.528228 m/s, LOS rate: nan deg/s, cmd heading: 40.498705 deg, new cmd heading: 40.521235 deg. eHeadingCmd: 0.707229 target range: 87.952766 and range: 76.00 m.he 5?ha*ha"ha hagafififididdjdS@Zd?\MBɢ%g)! %i!)%fp!)i-桯BA BE HBE KBBE =BA BA BE M;BE +BE E  E E )E "E ;*E :VE FA4ZE BE ]4,?A2I>2f{-?2ffٱ2ܼ :AHRS rotation from veh to nav: [[0.776531,-0.625066,-0.079328],[0.624956,0.780111,-0.029281],[0.080187,-0.026839,0.996418]]2HW?N??&?{?i2I>I2o^;2ݑCYBJByBHiMb@Mb@Mb@ 9(\?A`"Mb?Y?yY<AίAԙ )EAYGAbDVDyP%?=ٔûQ->9Y=YFyD̓<E>Q 5^4?Q 9^4!)z'BY?Q E:y?Q I?7BI ;i;U^4yɮֵAjh DNOT Ignoring new targets: 87.95 m.Rh:Zh% ProNav pure pursuit: ac range: 87.952766 m, nav range: 71.216393 m, bearing: 40.544750 deg, approach rate: -0.578844 m/s, LOS rate: nan deg/s, cmd heading: 40.521234 deg, new cmd heading: 40.544750 deg. -HeadingCmd: 0.707639 target range: 87.952766 and range: 76.00 m.h-'5?h)*h)"h1 h1g1fffdddjdZd]?颥gMBɢ؝j) i)Oxii '_,J?A2V.>2.?2`ٱ2 :AHRS rotation from veh to nav: [[0.772829,-0.628495,-0.087919],[0.629205,0.776902,-0.022875],[0.082681,-0.037640,0.995865]]2H@?ځs"?@b?`l*?E ?i2V.>I2^;2CYBKByBHbDJVDJβyR}=%R]=ٔV<޻Q-V>9TYT=ZYFyZ DZz<EZ>\Q 5b^4^U?Q 9b^4^)^'BYdyf?Q If?^BI^:i^ :^:^4yjBɮjAjgEjh|DNOT Ignoring new targets: 87.95 m.Rht:Zh ProNav pure pursuit: ac range: 87.952766 m, nav range: 71.013176 m, bearing: 40.564419 deg, approach rate: -0.550788 m/s, LOS rate: nan deg/s, cmd heading: 40.544751 deg, new cmd heading: 40.564419 deg. HeadingCmd: 0.707983 target range: 87.952766 and range: 76.00 m.hZ>5?h!*h!"h! h!g!f!f)f)d)d)d1jd1Zd5?oMBɢB@x) qi)~i5?^u<zIZ>5?II5?)?E] E]E],EY"E];*E]B:VE]g4ZEYam@am@am@am@2Acoustic response timeout9M9@I @I@M/@I@U>@U=!Q^Am*:IIO>ia Ia m 2Acoustic response timeouty Ή,8?A2q\>20?2sٱ2P :AHRS rotation from veh to nav: [[0.769968,-0.630496,-0.098100],[0.632348,0.774542,-0.014863],[0.085354,-0.050589,0.995066]]2H?-0I2߂^;2ߑCYfKByfHIja=)j;bDrVDryvV%zF=ٔzrԻQ-z>9|Y|=~YFy~D(<E> Q 5^4 aˋ?Q 9^4 0) 'BYy?Q I? BI l:i ; ^4y!ɮ%A!EB*** querying acoustic contact ***iA iAjhQUDNOT Ignoring new targets: 87.95 m.Rh]l:ZhYm ProNav pure pursuit: ac range: 87.952766 m, nav range: 70.785080 m, bearing: 40.585797 deg, approach rate: -0.549850 m/s, LOS rate: nan deg/s, cmd heading: 40.564418 deg, new cmd heading: 40.585797 deg. mHeadingCmd: 0.708356 target range: 87.952766 and range: 76.00 m.hmV5?hi*hq"hq hqgqfqfyfydyddjdZd?颭{MBɢi)@a< i)项iBLCBHBCKBB =BBºDBD;B&BE9@ @@@Em EmEm-Ei"Em ;*EmM:VEmt4ZEiBEmO<ԁa}2EmOԩ sq,ϢR?A2 >2|0?2贽ٱ27 :AHRS rotation from veh to nav: [[0.767691,-0.631383,-0.109575],[0.634719,0.772723,-0.005621],[0.088220,-0.065234,0.993963]]2H?J4@ O?$?$w?.?i2 >I2'^;2CYNKByRH%2Acoustic response timeoutiMb@Mb@Mb@ 9&1?X9v~jt?Y?y<A-A A)rAYpAbDVDܲy<%==ٔXٻQ->9Y=YFyD ;E>Q 5^4ۋ?Q 9^4W)'BY>?Q E:y|#?Q I%?BIs;i;^;^4y5Bɮ=A=hEjhiԱDNOT Ignoring new targets: 87.95 m.Rh:Zh ProNav pure pursuit: ac range: 87.952766 m, nav range: 70.540405 m, bearing: 40.599679 deg, approach rate: -0.555290 m/s, LOS rate: nan deg/s, cmd heading: 40.585797 deg, new cmd heading: 40.599679 deg.  HeadingCmd: 0.708598 target range: 87.952766 and range: 76.00 m.h f5?h *h"h hgfffd!d!d!jd!Zd%`I?MMBɢUc)Q UiQ)UQYi]>,\wn?A2Cx>21?2>ٱ2 :AHRS rotation from veh to nav: [[0.765720,-0.631683,-0.121034],[0.636683,0.771118,0.003457],[0.091148,-0.079707,0.992642]]2Hǀ?`6 _?@?Ql?`zU?g?i2Cx>I2~&^;2CYBFKByBHbDnVDnyvu=%vJ=ٔvfQ-v>9xYx=zYFyz%Dz@;E~>|Q 5 ^4~1닊?Q 9 ^4~)~'BY y ]$?Q I ?~BI~ ;i~P ;~^4yɮAAjh9EDNOT Ignoring new targets: 87.95 m.RhM :ZhIU ProNav pure pursuit: ac range: 87.952766 m, nav range: 70.315430 m, bearing: 40.611897 deg, approach rate: -0.568040 m/s, LOS rate: nan deg/s, cmd heading: 40.599679 deg, new cmd heading: 40.611897 deg. ]HeadingCmd: 0.708811 target range: 87.952766 and range: 76.00 m.h]t5?hY*ha"ha hagafafifidididqjdqZdu=@额MBɢQp) i),顩iB>BB>HBvKBBBBB>;BBEBBKCBBȏ =BCB5Y E  E E +E "E l;*E $:VE [4ZE BE ^F22?2ٱ2iĽ :AHRS rotation from veh to nav: [[0.764220,-0.631033,-0.133288],[0.638069,0.769859,0.013640],[0.094005,-0.095471,0.990983]]2H|t?`l1@k???`?`p"?i2>I2];2CYNQKByRH TTieMb@Mb@Mb@aaaa a9en?:vV-?Ye?yeTe9Y=YFy.D;E>Q 5^4L?Q 9^4)(BY<?Q E:y-?Q I?BIu ;i ;^4yBɮA_EjhDNOT Ignoring new targets: 87.95 m.Rh9Zh ProNav pure pursuit: ac range: 87.952766 m, nav range: 70.070114 m, bearing: 40.618044 deg, approach rate: -0.580351 m/s, LOS rate: nan deg/s, cmd heading: 40.611898 deg, new cmd heading: 40.618044 deg. HeadingCmd: 0.708919 target range: 87.952766 and range: 76.00 m.h {5?h *h "h  h g f ffdddjdZd@MMBɢMg)I M iI)U[QQiUj:2?:aǽٱ: FAHRS rotation from veh to nav: [[0.762705,-0.630371,-0.144613],[0.639428,0.768525,0.022401],[0.097018,-0.109555,0.989235]]:H h?+@¿`1v??^?'ָ?@ `ϧ?i:>I:];:CYNaKByN$HbDVVDV:y^=%^)=ٔb`ͻQ-b>9`Y`=bYFyf8Dfk;Ef>hQ 5n_4j ?Q 9n_4j )j:(BYpyrQ.?Q Ir?jBIj6:ijN:j _4ytɮvAxjhDNOT Ignoring new targets: 87.95 m.Rhu9Zh- ProNav pure pursuit: ac range: 87.952766 m, nav range: 69.790070 m, bearing: 40.624480 deg, approach rate: -0.580263 m/s, LOS rate: nan deg/s, cmd heading: 40.618046 deg, new cmd heading: 40.624480 deg. 5HeadingCmd: 0.709031 target range: 87.952766 and range: 76.00 m.h5 5?h1*h1"h1 h9g9f9f9fAdAdAdAjdAZdM@@颥MBɢp^)A MiI)M IQiU_B KCB }HB KBB =B B DB +;B BEI) Iq Ա O >,Ë?AEj EjEhEh"Ej ;*Ej1:VEhZEh2Acoustic response timeoutBEjO91Y9==YFy=CD=E=>AQ 5M_4E!?Q 9M_4E)Eg(BYU~?Q EU:yU5?Q IU?EBIEV;iE;EA_4y]BɮeҴAe`EB*** querying acoustic contact ***i ijh!-DNOT Ignoring new targets: 87.95 m.Rh-Zh)= ProNav pure pursuit: ac range: 87.952766 m, nav range: 69.473206 m, bearing: 40.623995 deg, approach rate: -0.571940 m/s, LOS rate: nan deg/s, cmd heading: 40.624480 deg, new cmd heading: 40.623995 deg. EHeadingCmd: 0.709022 target range: 87.952766 and range: 76.00 m.hE5?hA*hA"hA hAgIfIfIfQdQdQdQjdQZd]Z @颅MBɢX) gi)6E顉iTx time:03:59:42.3811  R#Rx 1: Read range and direction messages.5 \direction in FSK: [0.971543,0.003391,0.236838]5 Fpublishing direction and range infoy$©?Gk'k?4ӋHP?Y̓B )KIFs>iѿhm>T'@k]>T'@ Gt>)d;IGt ?4?g? T?)|Y^Id;iGtU 2Acoustic response timeoutU Querying Benthos address 50 with one ping in standard two-way mode. @  @ @ @ @ =@ =ԁ ԩE EE,E"E ;*Eh:VEg4ZEa%@a%@a%@a%@^A-<mDAT read: u2Acoustic response timeoutIIO ?:,F拻?A2>2B4?2ѫ׽ٱ2 nAHRS rotation from veh to nav: [[0.757943,-0.630751,-0.166358],[0.643796,0.764398,0.034959],[0.105114,-0.133598,0.985445]]2H`A?/;Kſ?u?#?`?ň?i2>I2"^;2CYzKBy~jHbD VD y=u=%=5=ٔEQ-E>9AYA=EYFyELDmQj<Em>qQ 5}_4u2?Q 9}_4u)u(BYy7?Q I?u@BIu:iut:u&/_4yBɮAii֋?AJi6BRi6Bji@=?br #Q@x"?ϓn1@R$©?Gk'k?4ӋHP?Zid;biGtjuN䇒I@AykG@7j(8@ZSoԱ w,{?ABb>B`BbHBbKBB`B`B`Bb;BbAEm >m4?m-۽ٱm AHRS rotation from veh to nav: [[0.756171,-0.632111,-0.169239],[0.645540,0.762937,0.034728],[0.107166,-0.135511,0.984963]]mH2? A:ſC?@i?@ǡ?@Bo?`iX`ф?im >Imr^;mCbEg4jE7i4rE/E EEE"E%;*E:VEZEBEK9Y=YFyVD;E>Q 5_4E?Q 9_4)(BYG?Q E:y(6?Q I?BI;i;?_4yɮAjh%DNOT Ignoring new targets: 73.61 m.Rh-Q|:Zh-Q|:= ProNav: ac range: 73.607010 m, nav range: 71.855453 m, bearing: 47.024485 deg, approach rate: -0.630953 m/s, LOS rate: 0.055148 deg/s, cmd heading: 42.484214 deg, new cmd heading: 42.561654 deg. Bh=d;=HeadingCmd: 0.742841 target range: 73.607010 and range: 73.90 m.hE*>?hA*hA"hA hAgIfIfIfIdQdQdQjdQZdU@?颅MBɢ2n) @i)G顉i?,<tmI*>?Ie=9Թ9@ @@/@^AqII!O5> 2Acoustic response timeout E,O?A2z>25?2ٱ2>3 :AHRS rotation from veh to nav: [[0.754288,-0.633890,-0.170975],[0.647400,0.761431,0.033120],[0.109191,-0.135671,0.984719]]2H@!#?Hſ?]?@ ? ?]Ђ?i2z>I20P^;2CY^KBybH ``dfA jp?h*h"h hgfffdddjdZd  !?5MBɢ5z)9 =i9)=m99i=?EE?II99e9@a @a@eh1@aE EE-E"E ;*EM:VEt4ZEa@a@a@a@2Acoustic response timeout!^A]oMAIIO>I o ,*4?A6q>6J"6?6Oٱ6 ZAHRS rotation from veh to nav: [[0.752727,-0.635060,-0.173497],[0.648905,0.760160,0.032863],[0.111015,-0.137320,0.984286]]6H@W?`hR&5ƿ?@:S?kӠ?k?@@E?i6q>I67<^;6CYjKByjHbDzVDzy =% H=ٔ!Q->9!Y!=%YFy%dD%~;E->E2Acoustic response timeout9Q 5]_4=8b?Q 9]_4=9)=(BYayeg7?Q Im?=BI=u;i='v;=,Y_4yqɮAjh)5DNOT Ignoring new targets: 73.61 m.Rh5j:Zh5j:E ProNav: ac range: 73.607010 m, nav range: 71.413483 m, bearing: 47.061949 deg, approach rate: -0.606515 m/s, LOS rate: 0.051263 deg/s, cmd heading: 42.610483 deg, new cmd heading: 42.674402 deg. BhE ;MHeadingCmd: 0.744809 target range: 73.607010 and range: 73.90 m.hM˫>?hI*hI"hQ hQgQfQfYfYdYdYdajdaZdel?颍MBɢeAe) 8i)顑i_?=ъ<SI˫>?IQZ9e9@a @a@e4@ayAA@AB>BBHB-LBB =BBB;BAEE EE)E"E ;*Ev:VEFA4ZEBELmX,N?A2 >26?2Gٱ2+L :AHRS rotation from veh to nav: [[0.750721,-0.636863,-0.175568],[0.650964,0.758417,0.032380],[0.112532,-0.138597,0.983935]]2H?.axƿ? D?@"?`μ?d|?i2 >I2Q'^;0DYJKByJHi]Mb@Mb@Mb@YYYY Y9]'1Z?~jtx?y&1|?Y]"?y];]`;Y]+A Y)]AYY]GAbDuVDu:2y<%C=ٔnQ->9Y=YFymD;E>Q 5_4r?Q 9_4))BY"?Q E:y9?Q I?BBI':i:g_4yBɮ޳AXEB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 73.61 m.Rhl:Zhl: ProNav: ac range: 73.607010 m, nav range: 71.151703 m, bearing: 47.082267 deg, approach rate: -0.664544 m/s, LOS rate: 0.051768 deg/s, cmd heading: 42.674404 deg, new cmd heading: 42.735582 deg. Bh;HeadingCmd: 0.745877 target range: 73.607010 and range: 73.90 m.h>?h*h"h hgff f d d d jdZd<?=MBɢ=j)A EiA)EFAAiM?Mi?IQMl9Ա]2Acoustic response timeout9@ @@/@^AIIO> E  E E ,E "E =;*E VE g4ZE a @a @a @a @ 2Acoustic response timeout,g?A2&>27?2ٱ2jj :AHRS rotation from veh to nav: [[0.748750,-0.638822,-0.176861],[0.652968,0.756751,0.030987],[0.114045,-0.138686,0.983748]]2H?;qcƿ?M7??` 2?wz?i2&>I2O^;2CYJLByJHIN>)N=bDVVDVyZ=%ZX=ٔ^Q-^>9`Y`=bYFybuDbt;Ef>dQ 5j_4fҁ?Q 9n_4ftl)f5)BYYy]f:?Q I]?fBIf{ PExceeded connect timeout, disconnecting.sk ,?AɰB.>B,B.jHB.jLBB. =B,B,B.;B.AE?.V8?yٱA AHRS rotation from veh to nav: [[0.746715,-0.641077,-0.177308],[0.655005,0.755091,0.028373],[0.115694,-0.137324,0.983746]]H@?ಃƿ?@)? ??דz?i?IF^;CY LBy  HEm EmEm+Ei"EmO;*Em$:VEm [4ZEiBEm-Y9Y=YFyD;E>Q 5_4b?Q 9_4)_)BY \$?Q E :y y7?Q I ?bBI ;iT ;_4yBɮAYEjh9=DNOT Ignoring new targets: 73.61 m.RhE :ZhE :U ProNav: ac range: 73.607010 m, nav range: 70.592171 m, bearing: 47.127922 deg, approach rate: -0.659334 m/s, LOS rate: 0.056850 deg/s, cmd heading: 42.789861 deg, new cmd heading: 42.873106 deg. BhU;]HeadingCmd: 0.748277 target range: 73.607010 and range: 73.90 m.h]??hY*hY"hY haagifififidqdqdqjdqZd}@@@%NBɢ%*Y)! %5i!)-|))i-iT'',?A8b_?b69?b˳ٱba zAHRS rotation from veh to nav: [[0.744330,-0.643782,-0.177531],[0.657436,0.753078,0.025529],[0.117260,-0.135717,0.983784]]bH ?ۙYƿ` ?6?3$??/_({?ib_?IbJX^;bCYBLBy9HbDVD0y%=%%h=ٔ-Q-->9IYI=UYFyUDU<EU>YQ 5e_4]?Q 9e_4])]})BYaymY8?Q Iu?]BI]f;i]g;]"_4yɮ:AjhDNOT Ignoring new targets: 73.61 m.Rhxr:Zhxr: ProNav: ac range: 73.607010 m, nav range: 70.366890 m, bearing: 47.146778 deg, approach rate: -0.631150 m/s, LOS rate: 0.052996 deg/s, cmd heading: 42.873104 deg, new cmd heading: 42.929853 deg. Bh{;HeadingCmd: 0.749267 target range: 73.607010 and range: 73.90 m.h??h*h"h hgfffdddjdZd !| @ !NBɢ v'k)  i)C i- zJ-,?A*DAT read: 03:59:44.8809 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 417,-0.34,-1.110,-2.915,-0.944,-1.271, PHS= 0.264,-1.599, 0.283, RAW= 150.5, 11.2, CAL= 150.4, 12.3, ROT= 359.6, -12.3 2Ygot valid direction response: 03:59:44.8809 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 417,-0.34,-1.110,-2.915,-0.944,-1.271, PHS= 0.264,-1.599, 0.283, RAW= 150.5, 11.2, CAL= 150.4, 12.3, ROT= 359.6, -12.3 6PDAT read: Bearing 223.5, 4.3 (Local) 6~Local bearing/azimuth received: Bearing 223.5, 4.3 (Local) :DAT read: Range 11 to 50 : 71.7 m (Round-trip 95.7 ms) speed 0.8 m/s >RDAT read: user:29>Tx time:03:59:45.9811 BR#Rx 1: Read range and direction messages.F^direction in FSK: [0.977022,-0.006821,0.213030]FFpublishing direction and range infoy s%C?Ē9{AzUmD?YfB )HI+>i̿`>0(@+H>'@ [>)@I[l"K^ ?o,o4?`? sJ?)/HIi[v2Acoustic response timeoutvQuerying Benthos address 50 with one ping in standard two-way mode.B?:?3ٱX -AHRS rotation from veh to nav: [[0.741918,-0.646368,-0.178232],[0.659877,0.751014,0.023249],[0.118827,-0.134860,0.983714]]H˽? Lƿ`?@N?Η?tk? Cz?iB?I)-^;Y=fLBy=fH AA M49iYi=mYFymDmo <Eu>qQ 5_4u?Q 9_4up)u)BY!y%:9?Q I%?u[BIu`m.@R s%C?Ē9{AzUmD?Zibi[j _H@9VG@ۥR7@Zo~ w6?d9q?v?2i8B:izEB"ixY?*iR."BiؔBiiiؔBicBiX>H? addTargetRange:: Added new target pos. range: 71.699997 m, deltaT: 3.531271 s, deltaX: -2.200005 m, approachRate: -0.623006 m/s, rangeRepo size: 4 - Added new target pos. range: 71.415283 m, bearing: 42.994999 deg, lat: 36.779323 deg, lon: -121.859536 deg, deltaT: 3.531271 s, deltaX: -2.191727 m, approachRate: -0.620662 m/s, posRepo size: 3 jh)DNOT Ignoring new targets: 71.42 m.RhZh ProNav: ac range: 71.415283 m, nav range: 67.193481 m, bearing: 44.816831 deg, approach rate: 0.000000 m/s, LOS rate: 0.052996 deg/s, cmd heading: 42.929853 deg, new cmd heading: 43.001150 deg. BhHeadingCmd: 0.750512 target range: 71.415283 and range: 71.70 m.h!@?h*h"h hgfffdddjdQ@Zd1? mnManaging dock network, ignoring radio surface power offu0NBɢuJR)y }iy)}yyi}eB1B5HB5LBB1B1B1B5;B5AEBBBBĎ =BCĩ59 !! G(hAAIE EE+E"E ;*Eą:VE [4ZEBEOAHRS rotation from veh to nav: [[0.739561,-0.649117,-0.178033],[0.662238,0.749027,0.019991],[0.120375,-0.132684,0.983822]]2H|?` ƿ 1??dx?о? @w{?i2?I2O+^;2CYBtLByFvHvonly read 3 of 4 data items for beam range. Device response is::RA, 0.00, 204.41, 239.16, 208.50 av@av av@av av@av av@av bDzVDzy<% =ٔ 0Q- >9Y=YFyD;E>Q 5_4̌?Q 9_4))BQ A+:YQ E:y:?Q I?BI:i=?7_4yɮAB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 71.42 m.Rh:Zh: ProNav: ac range: 71.415283 m, nav range: 66.813766 m, bearing: 44.834864 deg, approach rate: -0.685291 m/s, LOS rate: 0.032730 deg/s, cmd heading: 43.001150 deg, new cmd heading: 43.055556 deg. Bh:HeadingCmd: 0.751461 target range: 71.415283 and range: 71.70 m.h_@?h*h"h! h!g!f!f)f)d)d)d1jd1Zd5D?]BNBɢ]׮N)a e$ia)eaaimoH=,_?A62Acoustic response timeoutY%LBy%HbD5VD5ܲyEQ=%ED=ٔEQ-M>9IYI=MYFyMDUEU>YQ 5e_4]܌?Q 9e_4]\)])BQ Ae :YaQ EeX:yaQ Im?]BI] ;i]Bz?]Y_4yuBɮuAu[Ejh  DNOT Ignoring new targets: 71.42 m.Rhc:Zhc:- ProNav: ac range: 71.415283 m, nav range: 66.560608 m, bearing: 44.847002 deg, approach rate: -0.614871 m/s, LOS rate: 0.029592 deg/s, cmd heading: 43.055556 deg, new cmd heading: 43.092107 deg. Bh-w:-HeadingCmd: 0.752099 target range: 71.415283 and range: 71.70 m.h5@?h1*h1"h1 h1g1f9f9f9dAdAdAjdAZdE`.?mPNBɢuhX)q uھiq)}dyyi}BUJCBU HBULBBQBQBQBUNJ;BUAEiE EE,E"ET;*E1:VEg4ZEBEGf=aEaE aEaM aMaM aMaM iMMb@Mb@Mb@IIII I9M~jt?{Gzty&1?YM$?yMףM`e9yYy=}YFyDKw<E>Q 5_4?Q 9_4)'*BQ AT:Y$?Q E:y;?Q I?IBI;i;_4yBɮwAREijhiuDNOT Ignoring new targets: 71.42 m.Rhu:Zhu: ProNav: ac range: 71.415283 m, nav range: 66.230072 m, bearing: 44.861170 deg, approach rate: -0.653506 m/s, LOS rate: 0.028153 deg/s, cmd heading: 43.092107 deg, new cmd heading: 43.134825 deg. Bh:HeadingCmd: 0.752845 target range: 71.415283 and range: 71.70 m.ho@?h*h "h  h g f ffdddjdZdq?cNBɢ>K) ߾i)büieL,3?AB5?Bƈ=?BںٱB9 rAHRS rotation from veh to nav: [[0.732517,-0.656977,-0.178324],[0.669349,0.742838,0.012796],[0.124059,-0.128734,0.983889]]BH p?@TƿNk?T?4?[¿?`^z|?iB5?IB/^;@Y~LByHbDVDN2yE >%EB=ٔMfQ-U>9YYY=]YFy]D]";Ee>aQ 5m_4e?Q 9u_4e)eO*BYqyuEB1B5dHB55MBB1B1B5DB5;B5rAEyAIIO >bEU [4jEUɞ]4rEUϚ/E  E E E "E ;*E Z:VE ZE BE L?2ٱ2  :AHRS rotation from veh to nav: [[0.731053,-0.658655,-0.178143],[0.670931,0.741422,0.012042],[0.124148,-0.128325,0.983931]]2Hd?dƿCx?ູ?9?*ȿ?l\|?i2@?I2=M^;2CYNLByRHi]Mb@Mb@Mb@YYYY Y9]ˡE? rh9Y=YFyDʭ;E>Q 5_4V?Q 9_4+)z*BY(?Q E:yZ8?Q I?[BI:i/:_4yBɮAjhDNOT Ignoring new targets: 71.42 m.Rh":Zh": ProNav: ac range: 71.415283 m, nav range: 65.695740 m, bearing: 44.886895 deg, approach rate: -0.644478 m/s, LOS rate: 0.035622 deg/s, cmd heading: 43.168329 deg, new cmd heading: 43.212315 deg. Bh: HeadingCmd: 0.754197 target range: 71.415283 and range: 71.70 m.h A?h *h "h  hgfffddd!jd!Zd%F@M~NBɢM%V)Q U;iQ)U{ȼQYi]0 BrY,g?AE2 E2E0E0"E2 ;*E2h:VE0ZE0a:@a:@a:@a:@> ?>>?>"ٱ> FAHRS rotation from veh to nav: [[0.729788,-0.660030,-0.178240],[0.672287,0.740199,0.011634],[0.124255,-0.128319,0.983918]]>H mZ?ƿ_??zӇ?(Ͽ?lB|?i> ?I>6^;%bX=ٔbQ-f>9f ?Yf ?=fYFyfDj;Ej>r2Acoustic response timeoutlQ 5e_4n"?Q 9e_4n)n*BYaye8?Q Ie?nBInB9 B= HB= rMBB9 B9 B9 B= v;B= HAE^A%0;ԉE EE,E"E%;*E?:VEg4ZEBEK?2ٱ2 :AHRS rotation from veh to nav: [[0.728819,-0.661057,-0.178401],[0.673339,0.739244,0.011546],[0.124249,-0.128539,0.983890]]2H|R?`'ƿ???`ο?s|?i2?I2:(^;0YB%MByBPHi Mb@Mb@Mb@     9 %C?I +9"?Y"?=YFyD;E>Q 5`4;?Q 9`4!)*BYp$?Q E:yz;?Q I?BI. ;i ; `4yBɮASEjhDNOT Ignoring new targets: 71.42 m.Rh:Zh: ProNav: ac range: 71.415283 m, nav range: 65.066010 m, bearing: 44.917490 deg, approach rate: -0.658005 m/s, LOS rate: 0.029939 deg/s, cmd heading: 43.252084 deg, new cmd heading: 43.304558 deg. Bh_:%HeadingCmd: 0.755807 target range: 71.415283 and range: 71.70 m.h%|A?h!*h!"h! h!g!f)f)f)d1d1d1jd1Zd5$ @eNBɢeJB)a eii)mduμiiimCGTx time:03:59:49.5811 R#Rx 1: Read range and direction messages.^direction in FSK: [0.959380,-0.041887,0.278991]Fpublishing direction and range infoyQUv =?`jFr?YUBQQQQ Q)UFIUJ >iUԿUS>UP*@U>UX*@ UÐ>)Ui@IUÐQQU-!9n ?Yn ?=nYFynDn;Er>pQ 5v`4r O?Q 9z`4ry)r+BYxyz,?bRP@ys\W2CP3@Rv =?`jFr?ZiѸ2biÐjg_G@W0yE@1d;@Zx??{,g?Q?2i+B:i:B"i鱜?*inHBiޝBi鱜?iR."i BiBihyB?U addTargetRange:: Added new target pos. range: 69.500000 m, deltaT: 3.528003 s, deltaX: -2.199997 m, approachRate: -0.623581 m/s, rangeRepo size: 4 e Added new target pos. range: 69.223122 m, bearing: 42.576808 deg, lat: 36.779331 deg, lon: -121.859551 deg, deltaT: 3.528003 s, deltaX: -2.192162 m, approachRate: -0.621360 m/s, posRepo size: 4 jhaeDNOT Ignoring new targets: 69.22 m.RhmZhi} ProNav: ac range: 69.223122 m, nav range: 64.466263 m, bearing: 43.525598 deg, approach rate: 0.000000 m/s, LOS rate: 0.029939 deg/s, cmd heading: 43.304557 deg, new cmd heading: 43.350282 deg. BhyHeadingCmd: 0.756605 target range: 69.223122 and range: 69.50 m.hA?h*h"h hgfffdddjd`Q@Zd)?NBɢ,>C) i)xuѼiB ICB HB MBB =B B B M;B AE1 ^A <E  E E +E "E ;*E :VE [4ZE BE q_ s,>̍?AjO'?j??jGٱjC vAHRS rotation from veh to nav: [[0.726105,-0.663531,-0.180274],[0.676393,0.736411,0.013873],[0.123551,-0.132009,0.983519]]jH @9"?Y"?=ZFyD>;E>Q 5`4b?Q 9`4Ȭ)D+BY%?Q E:y>?Q I?BI ;i& ;.0`4yBɮAJEjh DNOT Ignoring new targets: 69.22 m.Rh !9Zh !9 ProNav: ac range: 69.223122 m, nav range: 64.146957 m, bearing: 43.529949 deg, approach rate: -0.644826 m/s, LOS rate: 0.008831 deg/s, cmd heading: 43.350282 deg, new cmd heading: 43.363400 deg. Bh9%HeadingCmd: 0.756834 target range: 69.223122 and range: 69.50 m.h%A?h!*h!"h) h)g)1f1f1f9d9d9d9jd9ZdE*?eNBɢmG)i m ii)m`Լqqiu:Fy,\U荻?A2u?2fL@?2oٱ2W :AHRS rotation from veh to nav: [[0.725348,-0.664169,-0.180968],[0.677313,0.735536,0.015297],[0.122948,-0.133668,0.983370]]2H6?@)ǿ? ?-T?y?`w?i2u?I2];2CEJ EJEJ,EH"EJ:*EJ:VEJg4ZEHaN@aN@aN@aN@YBMByNH 2Acoustic response timeoutbDVD:2y&=%-=ٔj:Q->9Y=ZFyD%%;E>!Q 5-`4%u?Q 9-`4%Z)%t+BY1y5>?Q I5?%BI%:i%;%@`4y=ܒBɮ=YAEKE]B*** querying acoustic contact ***iY iYjhimDNOT Ignoring new targets: 69.22 m.Rhm9Zhu9 ProNav: ac range: 69.223122 m, nav range: 63.842754 m, bearing: 43.533794 deg, approach rate: -0.639308 m/s, LOS rate: 0.008119 deg/s, cmd heading: 43.363399 deg, new cmd heading: 43.374990 deg. BhO9HeadingCmd: 0.757036 target range: 69.223122 and range: 69.50 m.h#A?h*h"h hgfffdddjdZd?NBɢJ@) !i)1ּiB! B% RHB% MBB! B! B% DB% 4;B% @EBJCBJCBB̏ =B̏ =C(5I GI gAOE>EF9EgAYMA,M?AqqE EE+E"E ;*E:VE [4ZEBEL9Y=ZFyD:E>Q 5`4w?Q 9`4XQ =tI)+BY%?Q E:y*??Q I?-BI;i5;S`4yɮ AjhDNOT Ignoring new targets: 69.22 m.Rh%W 9Zh%W 95 ProNav: ac range: 69.223122 m, nav range: 63.506496 m, bearing: 43.537762 deg, approach rate: -0.641830 m/s, LOS rate: 0.007614 deg/s, cmd heading: 43.374990 deg, new cmd heading: 43.386957 deg. Bh559=HeadingCmd: 0.757245 target range: 69.223122 and range: 69.50 m.h=A?h9*h9"h9 hAgAfAfIfIdIdIdIjdQZdU?}NBɢ}&>9) :i)ټ顁i]C4,$?A>W?>@?>Bٱ>A FAHRS rotation from veh to nav: [[0.724470,-0.664469,-0.183369],[0.678617,0.734203,0.020626],[0.120924,-0.139381,0.982828]]>H.?@UCxǿ:?~???8@Ss?i>W?I>];>CYNMByNHbDZVDZβyb%=%bn=ٔbu2;Q-b?9dYd=fZFyfDj;Ej?lQ 5r`4n?Q 9r`4nh)n+BYpyrW??Q Ir?nBIn-:in$:n_`4yzߒBɮzAzLEjhDNOT Ignoring new targets: 69.22 m.Rh%9Zh%95 ProNav: ac range: 69.223122 m, nav range: 63.286297 m, bearing: 43.540244 deg, approach rate: -0.642047 m/s, LOS rate: 0.007262 deg/s, cmd heading: 43.386956 deg, new cmd heading: 43.394428 deg. Bh5y9=HeadingCmd: 0.757376 target range: 69.223122 and range: 69.50 m.h=_A?h9*h9"h9 h9gAfAfAfAdIdIdIjdIZdUԱ@}NBɢ}K)y }Ûi):ۼ顁iP} ,f>?AF| ?F @?FmٱF# NAHRS rotation from veh to nav: [[0.723863,-0.665184,-0.183174],[0.679297,0.733577,0.020499],[0.120736,-0.139268,0.982867]]FH`)?@/I9hYh=nZFyn Dn;En>pQ 5v`4r?Q 9v`4rĘ)r+BYxyz??Q Iz?r#BIr:ir:r9m`4y|ɮAjh!-DNOT Ignoring new targets: 69.22 m.Rh-58Zh-58= ProNav: ac range: 69.223122 m, nav range: 63.027084 m, bearing: 43.542972 deg, approach rate: -0.641785 m/s, LOS rate: 0.006781 deg/s, cmd heading: 43.394429 deg, new cmd heading: 43.402645 deg. BhE9EHeadingCmd: 0.757519 target range: 69.223122 and range: 69.50 m.hEA?hI*hI"hI hIgIfIfQfQdQdQdYjdYZd]`@颅 OBɢ'A) Ci)T(ݼ顉iiyBHCBHB3NBB =BBB";B@E 9@  @ @4@E EE*E"El;*E1:VE(N4ZEBE^F:ȕ,@X?A6< ?6A?6ٱ6 BAHRS rotation from veh to nav: [[0.723547,-0.665353,-0.183808],[0.679749,0.733113,0.022041],[0.120087,-0.140891,0.982715]]6HK'? Jǿ`? u??`?¿fr?i6< ?I6&^;6CYJNByJ^HiMb@Mb@Mb@ 9?I +~jth?Yf&?y9D;KA9A bA)AYAbDmVDmfBDAT read: Rx Time:03:59:52.0748 TRx dataTimestamp_ set to:1761537593.4282082Acoustic response timeouty}=%@=ٔ$:Q->9Y=ZFyD@:E>Q 5`4?Q 9`4),BY&?Q E:y8?Q I?BI]:i:1|`4yBɮAMEjhDNOT Ignoring new targets: 69.22 m.Rh[9Zh[9 ProNav: ac range: 69.223122 m, nav range: 62.751053 m, bearing: 43.552778 deg, approach rate: -0.644261 m/s, LOS rate: 0.022989 deg/s, cmd heading: 43.402645 deg, new cmd heading: 43.432194 deg. Bhn|:HeadingCmd: 0.758035 target range: 69.223122 and range: 69.50 m.hB?h *h "h  h g f ffdddjdZdZ@EOBɢM;)I MiI)M߼IQiU:u5 =5 2Acoustic response timeout^AM hW<ԩ Ay I I O >,2r?A2L ?2A#A?2ٱ2~ :AHRS rotation from veh to nav: [[0.723447,-0.665132,-0.184996],[0.679991,0.732813,0.024437],[0.119313,-0.143474,0.982436]]2H{&?Hǿ`}?3s??`P?@^]¿p?i2L ?I2c`^;2C@YFNByFHbDRVDRNyVG=%ZX=ٔZ;Q-Z>9\Y\=^ZFy^Db+:Eb>dQ 5f`4fȍ?Q 9j`4f)f%,BYhyj8?Q Ij?f,BIf:if-:fU`4yr֒Bɮr"ArCEB*** querying acoustic contact ***i ijh9=DNOT Ignoring new targets: 69.22 m.RhEO9ZhMO9e ProNav: ac range: 69.223122 m, nav range: 62.508762 m, bearing: 43.561396 deg, approach rate: -0.634476 m/s, LOS rate: 0.022655 deg/s, cmd heading: 43.432193 deg, new cmd heading: 43.458147 deg. Bhmx:uHeadingCmd: 0.758488 target range: 69.223122 and range: 69.50 m.huA,B?hq*hq"hq hgfffdddjdZd@ @U+OBɢuT <)q uiy)}Jyyi}Oqishѿ7>)@e9@a @i@m2@iVh>P*@ >)M@I'( m?P?3%? .C?)pgIFi5:publishing transmit ping time15Fpublishing direction and range infoy x18?eX=9?Y )Ii )I'( m?P?3%? )IiB>BBHBzNBB =BBBB@E^A A bE]|a4jE]^4rE]T/E  E E E "E ;*E :VE ZE BE L,1@?A`K ?!A?ٱu AHRS rotation from veh to nav: [[0.723519,-0.665004,-0.185174],[0.680024,0.732745,0.025554],[0.118692,-0.144411,0.982373]]H'?@GƳǿ`?r?*?b?|¿o?iK ?I%_;CY+NByHiMb@Mb@Mb@ 9L7A`?MbMb`?Y+'?y;AhA A) AYAbD VD2y =%,=ٔ:Q->9Y=ZFy$DbE>Q 5`4܍?Q 9`4)N,BY^'?Q E:y4?Q I?BI:i/:`4yْBɮADEii?{?AJiBRiBjiA?b})P@`/wh0@R x18?eX=9?ZiFbijߕwF@Q.MyIE@֑fx8@Zء?R$Zb?q3M*o?2iK*B:iS5B"i`Ȝ?*iƛ*BiBi`Ȝ?iƛ*iVBixBiOA? addTargetRange:: Added new target pos. range: 67.099998 m, deltaT: 3.530414 s, deltaX: -2.400002 m, approachRate: -0.679807 m/s, rangeRepo size: 4 U Added new target pos. range: 66.830635 m, bearing: 43.203129 deg, lat: 36.779333 deg, lon: -121.859554 deg, deltaT: 3.530414 s, deltaX: -2.392487 m, approachRate: -0.677679 m/s, posRepo size: 4 jhY]DNOT Ignoring new targets: 66.83 m.RhZh ProNav: ac range: 66.830635 m, nav range: 62.189293 m, bearing: 43.202909 deg, approach rate: 0.000000 m/s, LOS rate: 0.022655 deg/s, cmd heading: 43.458148 deg, new cmd heading: 43.491870 deg. BhHeadingCmd: 0.759076 target range: 66.830635 and range: 67.10 m.hRB?h*h"h hgfffdddjd`fP@Zd=_?=@OBɢ=d4)9 =iA)E7AAiEtlB],x?AV; ?V,A?V,ٱVH bAHRS rotation from veh to nav: [[0.723789,-0.664638,-0.185432],[0.679958,0.732725,0.027766],[0.117416,-0.146183,0.982265]]VH@H)?`D <ǿ6?|r?n??¿n?iV; ?IV2&`;VCYnXNBynHtvAbD~VD~ yI=%==ٔ=B;Q->9 ?Y ?=ZFy-DE>Q 5`4_?Q 9`4Թ)t,BYy4?Q I?_BI2;i;`4yɮAjh)-DNOT Ignoring new targets: 66.83 m.Rh5 :Zh5 :E ProNav: ac range: 66.830635 m, nav range: 61.898014 m, bearing: 43.215923 deg, approach rate: -0.675866 m/s, LOS rate: 0.030339 deg/s, cmd heading: 43.491872 deg, new cmd heading: 43.531097 deg. BhE:MHeadingCmd: 0.759761 target range: 66.830635 and range: 67.10 m.hMB?hI*hI"hI hQgfffdddjdZd@?mQOBɢ6)8) yi)顱iGhA B <A <B >B B ?HB NBB B B B ;B @E!D,OŎ?AJI ?JA?JQٱJ RAHRS rotation from veh to nav: [[0.723710,-0.664786,-0.185211],[0.680164,0.732505,0.028518],[0.116710,-0.146613,0.982285]]JH@(?@Eǿ`?@p?3??6¿n?iJI ?IJ4U`;JCYZpNByZHbDfVDf1ynp=%nN=ٔn-:Q-n>9pYp=rZFyr5Dv :Ev>xQ 5z`4z-?Q 9~`4zR)z,BY|y~4?Q I?zBIz;iz];z`4y ܒBɮ A EEjh15DNOT Ignoring new targets: 66.83 m.Rh=o:Zh=o:M ProNav: ac range: 66.830635 m, nav range: 61.651833 m, bearing: 43.226968 deg, approach rate: -0.661961 m/s, LOS rate: 0.029820 deg/s, cmd heading: 43.531097 deg, new cmd heading: 43.564367 deg. BhM:UHeadingCmd: 0.760342 target range: 66.830635 and range: 67.10 m.hUB?hQ*hQ"hQ hQgQfYfYfadadadajdaZdm?`OBɢ=9) 5oi1)=q099i=3dqԙ n,R,ߎ?AJ1D ?JA?JShٱJ RAHRS rotation from veh to nav: [[0.723809,-0.664560,-0.185634],[0.680155,0.732462,0.029828],[0.116147,-0.147850,0.982166]]JHq)? Dǿ?@Sp?J?`һ?`¿m?iJ1D ?IJj`;JCYZNByZ+Hi=Mb@Mb@Mb@9999 99=x&?ˡE%eB=ٔm:Q-m>9iYi=mZFym=Du9Eu>yQ 5`4}?Q 9`4}|)},BY)?Q E:y1?Q I?}kBI}L:i}:}`4yBɮ1AjhDNOT Ignoring new targets: 66.83 m.Rh(:Zh(:U ProNav: ac range: 66.830635 m, nav range: 61.375523 m, bearing: 43.242449 deg, approach rate: -0.654600 m/s, LOS rate: 0.036840 deg/s, cmd heading: 43.564367 deg, new cmd heading: 43.611019 deg. BhUD:]HeadingCmd: 0.761156 target range: 66.830635 and range: 67.10 m.h]B?hY*hY"hY hagafafafidididijdiqZdul?rOBɢ}*) Ji)^iȰ` ,?AB1 ?BA?B|ٱB JAHRS rotation from veh to nav: [[0.724036,-0.664236,-0.185910],[0.679989,0.732573,0.030850],[0.115701,-0.148754,0.982082]]BH@M+?kAǿx?)>bD%VD%ܲy-<%5N=ٔ5):Q-5>91Y9==ZFy=ED=#7EE>AQ 5M`4E!?Q 9U`4EFx)E,BYQyU1?Q IU?EBIE:iE:E`4yaɮeAa}B*** querying acoustic contact ***iy iyjhDNOT Ignoring new targets: 66.83 m.Rh*:Zh*: ProNav: ac range: 66.830635 m, nav range: 61.115360 m, bearing: 43.257216 deg, approach rate: -0.654516 m/s, LOS rate: 0.037307 deg/s, cmd heading: 43.611017 deg, new cmd heading: 43.655505 deg. Bh:HeadingCmd: 0.761932 target range: 66.830635 and range: 67.10 m.h C?h*h"h hgffi߹I߽AT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.fdddjdZd$@OBɢ\0)  8Pi ) v  i E]BGCBHB OBBBBDB ;B@E^ANJN<E EE-E"E:*Eą:VEt4ZEBE>m (DAT read: user:31> } checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247418Y ,!?AJQ ?J(A?JٱJ=H ZAHRS rotation from veh to nav: [[0.723739,-0.664575,-0.185854],[0.680376,0.732195,0.031289],[0.115288,-0.149096,0.982079]]JH@(?@3D ǿ? %n? ??ÿ0m?iJQ ?IJ_;JCYjNByjwHiMb@Mb@Mb@ 9L7A`?+?Y+'?y<׼AƝA ) AYAbDVDβy=%@=ٔ>:Q->9Y=ZFyND:E>Q 5`43?Q 9U`4s)-BY]'?Q E]:y]\3?Q I]?>CI“C?h*h"h hgfffdddjdZd@ǣ@OBɢ#)  /i)zi8XC?U'<!C?I -9checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498914@ @@0@9q ^A X<Ii I O >E  E E E "E :*E :VE ZE a @a @a @a @,,?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.7512980V` ?Vn7A?V`RٱVs AHRS rotation from veh to nav: [[0.723638,-0.664781,-0.185511],[0.680590,0.731974,0.031798],[0.114651,-0.149268,0.982127]]VH (?E վǿe? Tl?@G?Y?3ÿm?iV` ?IV_;VCY-NBy-HbDEVDEyMD=%US=ٔUC:Q-U>9YYY=]ZFy]UDe:Ee>iQ 5u`4mC?Q 9u`4m_o)m9-BYqyuk3?Q I}?m~CIm ;im? ;m`4yגBɮnA=EjhDNOT Ignoring new targets: 66.83 m.Rh :Zh : ProNav: ac range: 66.830635 m, nav range: 60.591331 m, bearing: 43.284122 deg, approach rate: -0.672775 m/s, LOS rate: 0.034763 deg/s, cmd heading: 43.697843 deg, new cmd heading: 43.736576 deg. Bhܾ:HeadingCmd: 0.763347 target range: 66.830635 and range: 67.10 m.hjC?h*h"h hgfffdddjdZd`^@ OBɢ f')  +i)i )U g> B >B B HB POBB =B B B ;B @EBeHCBeHCBaBe˒ =Be˒ =Ce%5 G= hAI ,FF?AV{9VhAYVkA\r N ?r$A?rٱr< zAHRS rotation from veh to nav: [[0.723884,-0.664418,-0.185850],[0.680432,0.732062,0.033135],[0.114038,-0.150444,0.982019]]rH*?`Bǿ?@ m??1?Aÿl?ir N ?Ir͕_;rCYOByH   4<4<bDVDy-=%-M=ٔ5b:Q-5>95"?Y5"?=5ZFy5]D=;E=>AQ 5M`4EhT?Q 9M`4Ej)Ed-BYQyU]3?Q IU?ECIEl:iEd:E`4y]ےBɮ]2AYjhDNOT Ignoring new targets: 66.83 m.Rh:Zh: ProNav: ac range: 66.830635 m, nav range: 60.333679 m, bearing: 43.297548 deg, approach rate: -0.645431 m/s, LOS rate: 0.033775 deg/s, cmd heading: 43.736577 deg, new cmd heading: 43.777026 deg. Bhp:HeadingCmd: 0.764053 target range: 66.830635 and range: 67.10 m.hC?h*h"h hgfffdddjdZd @eOBɢe )a mii)mniiimQ<E EEE"E;*EZ:VEZEBE@,Ma?A2m ?2DA?2\ٱ2  :AHRS rotation from veh to nav: [[0.723586,-0.664739,-0.185864],[0.680805,0.731696,0.033543],[0.113699,-0.150808,0.982003]]2H@'?Eeǿ'?j?,?]?`Mÿl?i2m ?I2I_;2CYBIOByBHxiMMb@Mb@Mb@IIII I9M rh?I +l?YMC+?yM9M=MAMA MA)M7AIYMAbDeVDe:yum=%u@=ٔ}Q:Q-}>9} ?Y} ?=ZFyfDF:E>Q 5a4f?Q 9a4f)-BY+?Q E:y;?Q I? CI:i: a4yɮڬAjhDNOT Ignoring new targets: 66.83 m.Rh9Zh9 ProNav: ac range: 66.830635 m, nav range: 60.052235 m, bearing: 43.304309 deg, approach rate: -0.659592 m/s, LOS rate: 0.015919 deg/s, cmd heading: 43.777025 deg, new cmd heading: 43.797403 deg. Bh.:HeadingCmd: 0.764409 target range: 66.830635 and range: 67.10 m.hMC?h*h"h hgfffdddjdZdZ7 @5OBɢ5iˡſ%>D +@%/>{*@ q=>)8q@Iq=ի+c?YC?rP ? yR?)/IQQOiq=}:publishing transmit ping timeQ}Fpublishing direction and range infoyi?+v =η?Y )Ii )I9@ @@/@ի+c?YC?rP ? )IiԙԹ ^A 8<A I I! O- >,|?A6 ?6AeA?6sٱ6 NAHRS rotation from veh to nav: [[0.723278,-0.665056,-0.185927],[0.681206,0.731295,0.034147],[0.113258,-0.151352,0.981970]]6H@%?#Hvǿo?`f?@{?}? _ÿ@Ll?i6 ?I6_;6CYVKOByVHXbDbVDbJyjӉ;%jG=ٔjb:Q-n>9lYl=nZFynnDr^:Er>tQ 5za4vw?Q 9za4vJa)v-BYxyz&;?Q I~?vNCIv;iv;v/a4yޒBɮA>Ei1i5m?AJi5BRi5Bji5;?b5;kO@X- G-t'@R5i?+v =η?Zi5QQObi5q=j5ROv})F@]pND@98Q3@Z5^RH?羸o?8u(?2i5$B:i57B"i5x?*i5/%Bi5IBi5xY?i1i5 Bi5pBi5??U addTargetRange:: Added new target pos. range: 64.800003 m, deltaT: 3.777937 s, deltaX: -2.299995 m, approachRate: -0.608797 m/s, rangeRepo size: 4 e Added new target pos. range: 64.538696 m, bearing: 42.015371 deg, lat: 36.779338 deg, lon: -121.859554 deg, deltaT: 3.777937 s, deltaX: -2.291939 m, approachRate: -0.606664 m/s, posRepo size: 4 jhaeDNOT Ignoring new targets: 64.54 m.RhmZhi} ProNav: ac range: 64.538696 m, nav range: 60.167618 m, bearing: 42.964522 deg, approach rate: 0.000000 m/s, LOS rate: 0.015919 deg/s, cmd heading: 43.797403 deg, new cmd heading: 43.817210 deg. BhyHeadingCmd: 0.764755 target range: 64.538696 and range: 64.80 m.hC?h*h"h hgfffdddjd@33P@Zd@?OBɢ) i)iHHBBRHBOBB =BBB؉;B@E-9@) @)@)@) E EEE"EV:*E:VEZEBE9Rr,4ؖ?AYnOBy HiMb@Mb@Mb@ 9Q?+?Y\/?y=A A)AYAbDVDk1yn=%:=ٔQ->9"?Y"?=ZFywDE>Q 5a4%?Q 9a4[)-BY/?Q E:yC?Q I?CI:i:*a4y ɮ A -B*** querying acoustic contact ***i) i)jh1=DNOT Ignoring new targets: 64.54 m.Rh=G,Zh=G,M ProNav: ac range: 64.538696 m, nav range: 59.871136 m, bearing: 42.960447 deg, approach rate: -0.681621 m/s, LOS rate: -0.009414 deg/s, cmd heading: 43.817211 deg, new cmd heading: 43.804927 deg. BhMιUHeadingCmd: 0.764540 target range: 64.538696 and range: 64.80 m.hUC?hQ*hY"hY hYgYfYfafadadidijdiZdm+?颕OBɢH) i)E顙i׋D % checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993817A I I O >,h?A2 ?2XA?2Qٱ2 :AHRS rotation from veh to nav: [[0.722258,-0.666286,-0.185489],[0.682434,0.730128,0.034604],[0.112375,-0.151577,0.982037]]2H?7Rǿ~?5]??`ļ?fÿl?i2 ?I2{^;0YBOByBUHbDNVDNβyV=%Va=ٔVe ;Q-V>9XYX=ZZFyZ~D^;E^>`Q 5fa4b?Q 9fa4biW)b&.BYdyfD?Q If?bCIbd:ib9:b47a4ynBɮnVA?EjhAEDNOT Ignoring new targets: 64.54 m.RhM;ZhM;} ProNav: ac range: 64.538696 m, nav range: 59.625385 m, bearing: 42.956658 deg, approach rate: -0.662398 m/s, LOS rate: -0.010256 deg/s, cmd heading: 43.804926 deg, new cmd heading: 43.793512 deg. Bh}:HeadingCmd: 0.764341 target range: 64.538696 and range: 64.80 m.hګC?hԙ*h"h hgfffdddjdZdĴ?eOBɢmta)i m˽ii)h顱iڗ@B FCB HB OBB =B B DB ҉;B @E A .AI I O% >|,oʏ?A2% ?2|A?2'ٱ2N :AHRS rotation from veh to nav: [[0.721804,-0.666747,-0.185600],[0.682967,0.729608,0.035044],[0.112050,-0.152054,0.982000]]2H@?U@ǿ?X?@H?P?vÿl?i2% ?I2q^;0YBOByB{HbDJVDJ1yRp=%RK=ٔVET:Q-V>9V ?YV ?=VZFyVDZ:EZ>\Q 5ba4^?Q 9ba4^pR)^U.BYdyf>D?Q If?^CI^;i^:^IEa4yhɮjAhjh|~DNOT Ignoring new targets: 64.54 m.RhWNZhWN ProNav: ac range: 64.538696 m, nav range: 59.352886 m, bearing: 42.952227 deg, approach rate: -0.690245 m/s, LOS rate: -0.011275 deg/s, cmd heading: 43.793513 deg, new cmd heading: 43.780160 deg. BhHeadingCmd: 0.764108 target range: 64.538696 and range: 64.80 m.hC?h*h"h h!g!f!f!f)d)d)d)jd)Zd5?bEt4jEYe4rE/Ea EeEe*Ea"Ea*Ee:VEe(N4ZEaBEeDAM > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748850A} ؟Aԁ I I O >,n䏻?A2 q ?2GB?2sٱ2z :AHRS rotation from veh to nav: [[0.721041,-0.667531,-0.185750],[0.683813,0.728802,0.035313],[0.111803,-0.152480,0.981962]]2H?`i\@ǿ@?XR?@??xÿ@9="?Y="?==ZFy=DE 1;EE>IQ 5Ua4M?Q 9Ua4ML)M.BYU4?Q EU:yUM?Q I]?MjCIMj:iM:M Ta4yeےBɮeAe6Ejh  DNOT Ignoring new targets: 64.54 m.Rh IZhI ProNav: ac range: 64.538696 m, nav range: 59.057259 m, bearing: 42.937440 deg, approach rate: -0.670832 m/s, LOS rate: -0.033722 deg/s, cmd heading: 43.780160 deg, new cmd heading: 43.735578 deg. Bh%$AMHeadingCmd: 0.763330 target range: 64.538696 and range: 64.80 m.hMiC?hI*hI"hQ hQgQfQfYfYdYdYdYjdaZd C?%PBɢ ) 虽i)i?8,@?AN ?NlB?NٱNM VAHRS rotation from veh to nav: [[0.720059,-0.668638,-0.185577],[0.684905,0.727775,0.035319],[0.111442,-0.152534,0.981995]]NH@ ?zeǿ?I?@\?@|? ?ÿ`l?iN ?INZZ_;NCY^OBy^HbDfVDfyn=%rH=ٔrh:Q-r>9pYt=vZFyvDvl;Ev>xQ 5~a4zʎ?Q 9a4zuG)z.BYyzM?Q I?zCIz:iz:zgba4y ɮ Ajh1=DNOT Ignoring new targets: 64.54 m.Rh=!-ZhE!-U ProNav: ac range: 64.538696 m, nav range: 58.772835 m, bearing: 42.922663 deg, approach rate: -0.724800 m/s, LOS rate: -0.037840 deg/s, cmd heading: 43.735580 deg, new cmd heading: 43.691032 deg. BhUϺ]HeadingCmd: 0.762552 target range: 64.538696 and range: 64.80 m.h]6C?hY*hY"hY hYgYfYfafadadadijdiZdmה@额6PBɢ7 ) i)顡i\b4B5ECB5 IB5:PBB1B1B1B5ى;B5@E%9@! @!@%/@!YE EEE"E;*Eą:VEZEBEAԱ ,?AY~PBy~HiMb@Mb@Mb@ 9bX9?L7A`?~jt?YE6?y+=<׼A$A )YbDVDy=%<=ٔQ->9Y=ZFyDE>Q 5a4y܎?Q 9a4A).BY6?Q E:yO?Q I?CIT ;i ;qa4yߒBɮoA7E%B*** querying acoustic contact ***i! i!jh)5DNOT Ignoring new targets: 64.54 m.Rh=CZh=CE ProNav: ac range: 64.538696 m, nav range: 58.466465 m, bearing: 42.904172 deg, approach rate: -0.704545 m/s, LOS rate: -0.042745 deg/s, cmd heading: 43.691033 deg, new cmd heading: 43.635270 deg. BhMUHeadingCmd: 0.761579 target range: 64.538696 and range: 64.80 m.hUB?hQ*hQ"hQ hQgQfYfYfYdYdadajdaZde@ԑ颕KPBɢ ) i)_顙i`/ ! ,2?AJ ?JvC?JW ٱJ ZAHRS rotation from veh to nav: [[0.717929,-0.670954,-0.185468],[0.687183,0.725644,0.034912],[0.111160,-0.152516,0.982030]]JHF? txnǿ@h?z8? ?t?ࠅÿl?iJ ?IJV^;HYfPByjHbDEVDENymzt=%mQ=ٔu>:Q-u>9qYy=}ZFy}D}<E>Q 5a4w쎊?Q 9a4S<).BYyTP?Q I?ICI):i;=a4yɮ?AjhDNOT Ignoring new targets: 64.54 m.RhPZhP ProNav: ac range: 64.538696 m, nav range: 58.190674 m, bearing: 42.886505 deg, approach rate: -0.706579 m/s, LOS rate: -0.045477 deg/s, cmd heading: 43.635271 deg, new cmd heading: 43.582019 deg. BhHeadingCmd: 0.760650 target range: 64.538696 and range: 64.80 m.hB?h*h"h hgfffdddjdZd {/ @-]PBɢ-" )- -{i))5 11i5+iο`>,@Vh>9>,@ w>)Y@Iwbe31?Yˌp?M? .?)diIi iw:publishing transmit ping time Fpublishing direction and range infoy//?T $!?^AzlB B 9IB PBB B B DB Չ;B @E )Ii )Ibe31?Yˌp?M? )IiI I O > ,LL?A2% ?2$C?2 ٱ2_ >AHRS rotation from veh to nav: [[0.716525,-0.672513,-0.185252],[0.688653,0.724280,0.034275],[0.111124,-0.152133,0.982093]]2H@? :Xǿs ?`M-?q? r?@yÿNm?i2% ?I2^;2CYR2PByRIEb EbEb.E`"Eb&:*Eb:VEbـ4ZE`BEbe;9IYI=UZFyUDU;EU>yQ 5a4}?Q 9a4}6)}$/BYyP?Q I?}CI}:i}d:}Ra4yBɮ&Aii\A?AJixBRixBjiBU;?b_密2M@Y<9T/@R//?T $!?Zii biwjtjҗE@]CQSC@\C6@Zb`(?| ?'8e?2iB:i$,B"iOw'?*iͲ@>BiBiiiBigBi??M addTargetRange:: Added new target pos. range: 62.400002 m, deltaT: 3.309492 s, deltaX: -2.400002 m, approachRate: -0.725187 m/s, rangeRepo size: 4  Added new target pos. range: 62.146370 m, bearing: 41.927313 deg, lat: 36.779338 deg, lon: -121.859554 deg, deltaT: 3.309492 s, deltaX: -2.392326 m, approachRate: -0.722868 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 62.15 m.RhZh ProNav: ac range: 62.146370 m, nav range: 57.906403 m, bearing: 42.867542 deg, approach rate: 0.000000 m/s, LOS rate: -0.045477 deg/s, cmd heading: 43.582020 deg, new cmd heading: 43.524703 deg. BhHeadingCmd: 0.759649 target range: 62.146370 and range: 62.40 m.hbxB?h*h"h hg)f1fAQfIdqdydjd@33O@Zd?tPBɢ )  i ) H  i $&{,eg?A2'z ?2PD?2ٱ2 :AHRS rotation from veh to nav: [[0.715645,-0.673710,-0.184300],[0.689587,0.723444,0.033142],[0.111003,-0.150808,0.982311]]2H? @"ǿ?t&?@?j?Mÿo?i2'z ?I2N^;2CYBDPByBIi Mb@Mb@Mb@     9 ʡE? rh?Y -2?y C =  /A MA vA) dA Y ̪AbD%VD%:y5{$=%5C=ٔ59Q-5>99Y9==ZFy=DEI;EE>IQ 5Ua4M ?Q 9Ua4MY1)MC/BYUc2?Q EU:yUP?Q I]?MCIM:iM:Mٛa4yaɮeAjh DNOT Ignoring new targets: 62.15 m.Rh UZh UU ProNav: ac range: 62.146370 m, nav range: 57.618965 m, bearing: 42.848312 deg, approach rate: -0.692545 m/s, LOS rate: -0.046565 deg/s, cmd heading: 43.524704 deg, new cmd heading: 43.466725 deg. BhUHeadingCmd: 0.758637 target range: 62.146370 and range: 62.40 m.h6B?h*h"h hgfffdddjdZd?EE EEEE-EA"EE:*EE:VEEt4ZEAaM@aM@aM@aM@ePBɢe )a mii)miiim1##Z ,z?AiIA0: ?:D?:ٱ:շ BAHRS rotation from veh to nav: [[0.714455,-0.675003,-0.184187],[0.690818,0.722293,0.032622],[0.111017,-0.150547,0.982350]]:H@?pǿ-??ٳ?k?Eÿho?i: ?I:<^;:CYJePByJ(I LLbDrVDryz٪=%zP=ٔ~Q-~>9|Y=ZFyD?;E> Q 5a4 M?Q 9a4 ,) `/BYy,Q?Q I? !CI ;i ; a4y%ܒBɮ%A-/EjhIUDNOT Ignoring new targets: 62.15 m.RhUeZhUee ProNav: ac range: 62.146370 m, nav range: 57.346737 m, bearing: 42.829449 deg, approach rate: -0.721563 m/s, LOS rate: -0.050233 deg/s, cmd heading: 43.466726 deg, new cmd heading: 43.409871 deg. Bhm mHeadingCmd: 0.757645 target range: 62.146370 and range: 62.40 m.hm A?hi*hq"hq hqgqfqfyfydydydjdZd?颵PBɢch) pFi)EiB]DCB]^IB]PBB] =B];DBYB];B]h@EB%ECB%ECB%”CB%” =B%” =C%75z9gAYA5<53',?AY mPBy -IiMb@Mb@Mb@ 9Gz?Q?y&1|Y0?yu<`A GA)7AYbDVD:2y~<%#=ٔQ->9Y=ZFyDE>Q 5a41?Q 9a4%)/BY0?Q E:yI?Q I?yCIt;i;a4yBɮB*** querying acoustic contact ***i ijh!-DNOT Ignoring new targets: 62.15 m.Rh5mZh5m= ProNav: ac range: 62.146370 m, nav range: 57.003410 m, bearing: 42.815257 deg, approach rate: -0.685506 m/s, LOS rate: -0.028507 deg/s, cmd heading: 43.409872 deg, new cmd heading: 43.367040 deg. BhEEHeadingCmd: 0.756898 target range: 62.146370 and range: 62.40 m.hE A?hI*hI"hI hIgIfQfQfQdQdYdYjdYZd]N?颅PBɢ%H )) -i))-|))i5z?T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.^A F9.,?A2R ?2W)E?2yٱ2, :AHRS rotation from veh to nav: [[0.713336,-0.675720,-0.185889],[0.691923,0.721187,0.033641],[0.111329,-0.152618,0.981995]]2H?`5ǿ<$?@?h9??ÿ l?i2R ?I2^;0YBPByB?IbDJVDJyR=%RM=ٔRNQ-V>9TYT=VZFyVDZA;EZ>\Q 5ba4^A?Q 9ba4^ )^/BY`yfIJ?Q If?^CI^):i^ :^a4yhɮjjAhjh|~DNOT Ignoring new targets: 62.15 m.Rh Zh Q ProNav: ac range: 62.146370 m, nav range: 56.729954 m, bearing: 42.803400 deg, approach rate: -0.687303 m/s, LOS rate: -0.029946 deg/s, cmd heading: 43.367040 deg, new cmd heading: 43.331296 deg. BhiHeadingCmd: 0.756274 target range: 62.146370 and range: 62.40 m.h)A?h*h"h hgfffdddjdZd@t?PBɢK ) h`i)iL 5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.977881yBU>BQBU}IBUPBBQBQBQBU;BUS@EԩE9@I @I@M 0@IEe  Ee Ee +Ea "Ee V:*Ee :VEe [4ZEa BEe 9PN6,rڐ?A;ɰ;:J ?: E?:@ٱ:E BAHRS rotation from veh to nav: [[0.713407,-0.675233,-0.187380],[0.691808,0.721238,0.034888],[0.111588,-0.154521,0.981668]]:H`:? ǿK#? a?ܡ??@Tÿ`i?i:J ?I:d^;:CYJPByJQIiMb@Mb@Mb@ 9S?MbP?I +Y/?y:94^A|A ԳA)AYשAbD5VD5yEb=%E#=ٔEkQ-E>9IYI=MZFyMDUʊEU>YQ 5ea4]V?Q 9ea4]Y)]/BYe /?Q Ee:yD?Q I?]CI]A > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.733438 AA II IY Om >=,Ց?A2! ?2D?26ٱ2" :AHRS rotation from veh to nav: [[0.713849,-0.674302,-0.189040],[0.691371,0.721553,0.036978],[0.111468,-0.157093,0.981273]]2H ?w2ȿ??@? 0?Ŀ`f?i2! ?I2`^;2CYBPByBXIbDNVDNβyR!<%VC=ٔV,9Q-V>9XYX=ZZFyZD^aúE^>`Q 5ba4bg?Q 9fa4b)b/BYdyfD?Q If?b`CIb:ib;b4a4ylɮn)AljhDNOT Ignoring new targets: 62.15 m.Rh Zh  ProNav: ac range: 62.146370 m, nav range: 56.102970 m, bearing: 42.789568 deg, approach rate: -0.715572 m/s, LOS rate: -0.015697 deg/s, cmd heading: 43.308375 deg, new cmd heading: 43.289567 deg. Bh^,%HeadingCmd: 0.755545 target range: 62.146370 and range: 62.40 m.h%nkA?h!*h!"h! h!g)f)f)f1d1d1d1jd1Zd=`@ePBɢe+( )a etqii)m  i  BCCBIB#QBB =BBDB;BI@E!^A <A ԡ I I O >bEg4jE˨o4rE0E  E E 5E "E ;*E ą:VE 4ZE BE m9TYT=VZFyZDZ5EZ>\Q 5ba4^x?Q 9ba4^ )^/BYdyfdD?Q If?^CI^:i^:^?a4yjBɮj Aj1E= >=4=Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.238506jh5DNOT Ignoring new targets: 62.15 m.RhEqZhMqy ProNav: ac range: 62.146370 m, nav range: 55.829353 m, bearing: 42.783857 deg, approach rate: -0.627896 m/s, LOS rate: -0.013170 deg/s, cmd heading: 43.289568 deg, new cmd heading: 43.272351 deg. Bh%HeadingCmd: 0.755245 target range: 62.146370 and range: 62.40 m.h%WA?h)*h)"hQ hQgYfYffdddjdZdH @U QBɢ]D )Y ]iY)]CYaie DAT read: Range 11 to 50 : 60.0 m (Round-trip 80.0 ms) speed 0.9 m/s BRDAT read: user:34>Tx time:04:00:03.7811 BR#Rx 1: Read range and direction messages.Tv^direction in FSK: [0.974096,-0.059578,0.218143]zFpublishing direction and range infoyim9c+?hW '$?YmpBiiii i)mJIm^I>imǿmff>mv+@m%K>mv+@ mz0a>)mo@Imz0aiim;d`Wd*?@(N?TJC? m?)mApKIm5zimz0aii ?"C?߽ٱ) %AHRS rotation from veh to nav: [[0.717352,-0.669808,-0.191738],[0.688144,0.724197,0.044683],[0.108927,-0.163997,0.980428]]H@?oȿE?,?@?? Ŀ@_?MT****** received valid address query ******MR****** received valid ping request ******MQuerying Benthos address 50 with one ping in standard two-way mode.i ?I^;CYePByxIiMb@Mb@Mb@ 9B`"?{Gz{GztY.?y#ףۘA )AY3A p<bDVDyi=%<ٔ/;Q->9!Y!=%ZFy%D-hE->1Q 5=b45Q?Q 9=b45)5&0BYE.?Q EM:yM??Q IM?5CI5S;i5S;5gb4yeBɮeAe(Eiiimv83?AJimoBRimoBjim=?bm"|M@ЉK { N*@Rm9c+?hW '$?Zim5zbimz0ajmJTD@aC@JB3@ZmPL?w{a?ϟ?2im<B:im&B"ims=I?*imBim܏BimOw'?iiiiimD_BimM=? addTargetRange:: Added new target pos. range: 60.000000 m, deltaT: 3.779039 s, deltaX: -2.400002 m, approachRate: -0.635082 m/s, rangeRepo size: 4 % Added new target pos. range: 59.754772 m, bearing: 42.427271 deg, lat: 36.779343 deg, lon: -121.859554 deg, deltaT: 3.779039 s, deltaX: -2.391598 m, approachRate: -0.632859 m/s, posRepo size: 4 jh!-DNOT Ignoring new targets: 59.75 m.bh)-Powering the camera and arming the capture device at range: 60.00 m.2h-Rh5Zh1e ProNav: ac range: 59.754772 m, nav range: 55.817162 m, bearing: 42.368190 deg, approach rate: 0.000000 m/s, LOS rate: -0.013170 deg/s, cmd heading: 43.272353 deg, new cmd heading: 43.246895 deg. BhamHeadingCmd: 0.754801 target range: 59.754772 and range: 60.00 m.hm:A?hi*hi"hi hi2hqgqfqffdddjdN@Zd?)QBɢ ) Ri)OiBqBuIBuLQBBqBqBqBu;BuP@E9@ @@0@1 E  E E E "E *E x:VE ZE BE 39u ?Yu ?=uZFyuDu8E}>yQ 5b4}?Q 9b4})}T0BY80?Q E:y;?Q I?}tCI} :i}:} b4yBɮAB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 59.75 m.bhPowering the camera and arming the capture device at range: 60.00 m.2hRhC8ZhC8 ProNav: ac range: 59.754772 m, nav range: 55.461060 m, bearing: 42.370174 deg, approach rate: -0.702945 m/s, LOS rate: 0.003941 deg/s, cmd heading: 43.246893 deg, new cmd heading: 43.252883 deg. Bh-9HeadingCmd: 0.754905 target range: 59.754772 and range: 60.00 m.hxAA?h*h"h h2hgfffdddjdZd\?!5BQBɢ5P)1 5i1)=99i=;iExAA?El\,r?AFchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.750696 ? ? B? ڽٱ ?- AHRS rotation from veh to nav: [[0.720109,-0.666595,-0.192597],[0.685610,0.726264,0.049797],[0.106682,-0.167906,0.980014]] H" ? T@ȿ ?=?~? O? }ſE\?i ? ?I 4b; CY- QBy-IbD=VD=1yMH >%UZ=ٔUoZ;Q-U>9YYY=]ZFy]D]Ee>aQ 5mb4e?Q 9-b4eH)eu0BY)y5;?Q I5?eCIeB B IB QBB B B B ;B H@E^A <I I O >S>c,?A ɰ4<6@ ?6bB?6t׽ٱ6X/ >AHRS rotation from veh to nav: [[0.721285,-0.665367,-0.192445],[0.684613,0.727029,0.052274],[0.105132,-0.169455,0.979914]]6H?J` ȿ`Z?@C?ê??రſu[?i6@ ?I66c;6CYF0QByFILLbDRVDRyZ#=%ZL=ٔZ=;Q-^>9\Y\=^ZFy^Db`|Eb>dQ 5jb4fˏ?Q 9jb4f{)f0BYhyn$;?Q In?fCIf ;if ;f;b4ypɮruApjh  DNOT Ignoring new targets: 59.75 m.bhPowering the camera and arming the capture device at range: 60.00 m.2hRh8Zh8% ProNav: ac range: 59.754772 m, nav range: 54.931408 m, bearing: 42.374454 deg, approach rate: -0.734801 m/s, LOS rate: 0.006555 deg/s, cmd heading: 43.258467 deg, new cmd heading: 43.265784 deg. Bh-9E EE-E"ED:*E:VEt4ZEBE1=i,򧑻?A6C ?6bB?6Խٱ6WO. >AHRS rotation from veh to nav: [[0.722146,-0.664926,-0.190731],[0.683915,0.727657,0.052684],[0.103756,-0.168489,0.980228]]6H?Giȿ@?H?@g?๏?ſ@^?i6C ?I6b;6CYFQQByFIi=Mb@Mb@Mb@9999 99=B`"?y&1Zd;O?Y=.?ay=`e=j<=^A= A 9)=A9Y=̨AbD5VD50yE{=%E=ٔM+;Q-M>9IYQ=UZFyU DUEU>De=De<Ei EiEm1Ei"Ei*EiVEm-4ZEiau@au@au@au@YQ 5mb4]d㏊?Q 9mb4])]0BYu.?Q Eu:y}[>?Q I}?]]CI]d;i]o;]ZOb4yBɮCA*Echecking for new query: numPingsReceived=0, elapsed TxPingTime=5.757904jhDNOT Ignoring new targets: 59.75 m.bhPowering the camera and arming the capture device at range: 60.00 m.2hRh JNZh JN% ProNav: ac range: 59.754772 m, nav range: 54.551121 m, bearing: 42.372854 deg, approach rate: -0.665028 m/s, LOS rate: -0.002818 deg/s, cmd heading: 43.265785 deg, new cmd heading: 43.260951 deg. Bh%-HeadingCmd: 0.755046 target range: 59.754772 and range: 60.00 m.h-JA?h)*h1"h1 h12h1g1f9f9f9d9dAdAjdAZdE?;@ԑQBɢr ) gi)i;iJA? <C^AmD-<IIB!A%p<B%>B!B%IB%QBB!B!B!B%;B%=@EBCCBCCBΓCBΖ =BΖ =Co5OM?q,Kȑ?A:98Y:ANf ?N}A?NϽٱNc0 ZAHRS rotation from veh to nav: [[0.723964,-0.663025,-0.190457],[0.682367,0.728812,0.056641],[0.101253,-0.170968,0.980060]]NH@*?7`ȿ`?nR???Dſ \?iNf ?INq`;LYbrQBybIdbDnVDnyvǩ=%vQ=ٔm;Q-m>9qYq=uZFyu(Du@Eu>yQ 5b4} ?Q 9b4}7)}0BYy=?Q I?}CI}:;i};}l\b4yBɮA!EjhDNOT Ignoring new targets: 59.75 m.bhPowering the camera and arming the capture device at range: 60.00 m.2hRhBZhB ProNav: ac range: 59.754772 m, nav range: 54.297981 m, bearing: 42.372388 deg, approach rate: -0.687857 m/s, LOS rate: -0.001272 deg/s, cmd heading: 43.260950 deg, new cmd heading: 43.259545 deg. Bh_HeadingCmd: 0.755022 target range: 59.754772 and range: 60.00 m.hIA?h*h "h  h 2h g f ffdddjdZd`%@EQBɢMJ )I M *iI)MIQiU,;iUIA?]"<]( ԩ  x,#ᑻ?A>w ?>NA?>Gͽٱ>:1 JAHRS rotation from veh to nav: [[0.724549,-0.662572,-0.189808],[0.681920,0.729136,0.057849],[0.100067,-0.171348,0.980116]]>H@/?@3`KȿI? U?]??ſ@]?i>w ?I> `;>CYNQByRIi%Mb@Mb@Mb@!!!! !9%@5^I ?Mb`V-?Y%b0?y%%<%A%5A %\A)%A!Y%§AbD=VD=yM=%ME=ٔU D;Q-U>9QYQ=UZFeBDAT read: Rx Time:04:00:06.2620 eTRx dataTimestamp_ set to:1761537607.572290mchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.514321ym0DuEu>yQ 5b4?Q 9b4 )1BY0?Q E:ypB?Q I?CIn:i:kb4yɮAB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 59.75 m.bhPowering the camera and arming the capture device at range: 60.00 m.2hRh5Zh5 ProNav: ac range: 59.754772 m, nav range: 54.012997 m, bearing: 42.366345 deg, approach rate: -0.662459 m/s, LOS rate: -0.014120 deg/s, cmd heading: 43.259546 deg, new cmd heading: 43.241323 deg. Bh HeadingCmd: 0.754703 target range: 59.754772 and range: 60.00 m.h?4A?h*h"h h2hg f f)f)d1d1d1jd1Zd=@@颅QBɢ^) @i)kWi`V;i?4A?X$<D4~,?A28 ?21A?2Oʽٱ2U:1 :AHRS rotation from veh to nav: [[0.725294,-0.662027,-0.188861],[0.681309,0.729625,0.058866],[0.098827,-0.171368,0.980238]]2H5?S/,ȿH?Y?@#?L?`eſ^?i28 ?I2X_;2CY^QBybIbDj VDj2y=%M=ٔ%GM;Q-%>9!Y!=-ZFy-8D-<E->1Q 5=b45\?Q 9=b45`)5A1BYAyE1B?Q IE?5)CI5Y;i5;5@xb4yMBɮMAM"EjhquDNOT Ignoring new targets: 59.75 m.bhy}Powering the camera and arming the capture device at range: 60.00 m.2hyRh텹Zh텹 ProNav: ac range: 59.754772 m, nav range: 53.754448 m, bearing: 42.361072 deg, approach rate: -0.714255 m/s, LOS rate: -0.014636 deg/s, cmd heading: 43.241323 deg, new cmd heading: 43.225429 deg. Bh HeadingCmd: 0.754426 target range: 59.754772 and range: 60.00 m.h"A?h*h"h h2hgfffdddjdZd | @QBɢ5) Li)siP;i"A?#<BBIBQBBBBB;B$@EQ^Am <E  E E +E "E s:*E z:VE [4ZE BE m0M DAT read: 04:00:06.2620 LVL= 31648, 32753, 32754, 32755, AGC= 67, IDX= 159,-0.50, 0.558,-1.210, 0.815, 0.403, PHS= 0.256,-1.569, 0.368, RAW= 152.9, 10.1, CAL= 152.7, 10.9, ROT= 357.3, -10.9 ,p?AYgot valid direction response: 04:00:06.2620 LVL= 31648, 32753, 32754, 32755, AGC= 67, IDX= 159,-0.50, 0.558,-1.210, 0.815, 0.403, PHS= 0.256,-1.569, 0.368, RAW= 152.9, 10.1, CAL= 152.7, 10.9, ROT= 357.3, -10.9 8DAT read: $Error in header *Received a bad headerBX#Rx 1: Read direction message, but no range.F^direction in FSK: [0.980869,-0.046257,0.189095]yIM词Fc?++oG4?IM{II I)MCIMo>iMȿMj>M{*@MJ4>MJ*@ MB>)MЍ@IMBIM2esxp?vzj#?C[? M:?)M+3IMQAiMBRT****** received valid address query ******RR****** received valid ping request ******Rreceived new query, but waiting for acoustic response period to elapseYm! ?m:@?mȽٱm_0 UAHRS rotation from veh to nav: [[0.725608,-0.662059,-0.187540],[0.681125,0.729784,0.059028],[0.097784,-0.170569,0.980482]]mH-8?@/Qȿ@?cZ?8?]?@7ſ@`?im! ?Im_;mCYQByII=)=iMb@Mb@Mb@ 9`"?~jth?S㥛?Y7?yD;/< -A)YA @A bD VD k2yn=%=ٔ]':Q-]>9e"?Ye"?=eZFyeCDm=)Em>qQ 5ub4u+?Q 9}b4uV)uw1BY}7?Q E}:y}C?Q I}?ԁuCIu1;iu0;u8b4yɮVAjhDNOT Ignoring new targets: 59.75 m.bhPowering the camera and arming the capture device at range: 60.00 m.2hRhZh ProNav: ac range: 59.754772 m, nav range: 53.368076 m, bearing: 42.350661 deg, approach rate: -0.710918 m/s, LOS rate: -0.019295 deg/s, cmd heading: 43.225429 deg, new cmd heading: 43.193970 deg. BhSHeadingCmd: 0.753877 target range: 59.754772 and range: 60.00 m.h@?h*h"h h2hgfffdddjdZdL @QBɢ%j%)! %i!)%))i-;i-@?5#<5o9V ?YZ ?=ZZFyZJDZ!E^>\Q 5bb4^F;?Q 9fb4^)^1BYdyfC?Q If?^CI^>:i^y:^b4yjBɮn!AljhyDNOT Ignoring new targets: 59.75 m.bhPowering the camera and arming the capture device at range: 60.00 m.2hRh᪹Zh᪹ ProNav: ac range: 59.754772 m, nav range: 53.114841 m, bearing: 42.343764 deg, approach rate: -0.682370 m/s, LOS rate: -0.018674 deg/s, cmd heading: 43.193969 deg, new cmd heading: 43.173179 deg. BhMHeadingCmd: 0.753514 target range: 59.754772 and range: 60.00 m.hM@?h*h"h h2hgfffddIdIjdIZdM3z@额QBɢ') `Ri)/顡i!;ԩiM@?#<2BBCB9IB!RBBBBBr;B@E ^A9 Ai Iy I O >) œ, O?A2! ?2@?2DŽٱ2 1 :AHRS rotation from veh to nav: [[0.725725,-0.662139,-0.186801],[0.681243,0.729536,0.060713],[0.096078,-0.171318,0.980520]]2H$9?=0ǿ? [X??@?ſ k`?i2! ?I2]^;0YBQByB#IbDJ VDJ:2yR=%RK=ٔVs:Q-V>9TYT=VZFyZRDZ 9EZ>\Q 5bb4^L?Q 9bb4^)^1BYdyfC?Q If?^ CI^y:i^-:^b4yhɮjAhjh|~DNOT Ignoring new targets: 59.75 m.bhPowering the camera and arming the capture device at range: 60.00 m.2hRh 5Zh 5 ProNav: ac range: 59.754772 m, nav range: 52.828335 m, bearing: 42.335862 deg, approach rate: -0.741713 m/s, LOS rate: -0.020568 deg/s, cmd heading: 43.173178 deg, new cmd heading: 43.149343 deg. Bha%HeadingCmd: 0.753098 target range: 59.754772 and range: 60.00 m.h% @?h!*h!"h! h!2h!g)f)f)f)d1d1d1jd1bE [4jEd4rE$0EM EMEIEI"EM;*EMx:VEIZEIBEMA`,i?A Y~5RBy~EI iMb@Mb@Mb@ 9 +?I +?Zd;O?Y6?y94<j< A)Y\AbDVDy=%7=ٔQ->9"?Y"?=ZFy\DE >Q 5b4_?Q 9%b4)1BY%6?Q E-:y-PF?Q I-?h CIA;i;?;_b4y=BɮEAEEB*** querying acoustic contact ***i ijh DNOT Ignoring new targets: 59.75 m.bhPowering the camera and arming the capture device at range: 60.00 m.2hRh%Zh%- ProNav: ac range: 59.754772 m, nav range: 52.510948 m, bearing: 42.323472 deg, approach rate: -0.679396 m/s, LOS rate: -0.026681 deg/s, cmd heading: 43.149344 deg, new cmd heading: 43.111951 deg. Bh-}UHeadingCmd: 0.752446 target range: 59.754772 and range: 60.00 m.hUE@?hQ*hQ"hQ hQ2hQgYfYfYfYdadadajdaZde @i+RBɢQ) $ ,1_?A,2Gp ?2FA?2Vٱ2?/ >AHRS rotation from veh to nav: [[0.725031,-0.663518,-0.184590],[0.682222,0.728637,0.060506],[0.094352,-0.169800,0.980951]]2Hu3?;ǿ?`P??t'?ſ c?i2Gp ?I2 _;2CYF3RByFDIbDNVDNβyV%VY=ٔZ7;Q-Z>^T****** received valid address query ******^R****** received valid ping request ******^received new query, but waiting for acoustic response period to elapse9xYx=zZFy~cD~^L;E~>Q 5 b4"p?Q 9 b4) 2BY y5F?Q I=? CI;i;b4yEBɮEAAjhDNOT Ignoring new targets: 59.75 m.bhPowering the camera and arming the capture device at range: 60.00 m.2hRh_Zh_ ProNav: ac range: 59.754772 m, nav range: 52.240166 m, bearing: 42.312443 deg, approach rate: -0.728004 m/s, LOS rate: -0.029807 deg/s, cmd heading: 43.111953 deg, new cmd heading: 43.078692 deg. BhB>BB^IB^RBBBBBn;B @EHeadingCmd: 0.751865 target range: 59.754772 and range: 60.00 m.h:z@?h*h"h h2hgfffd!d!d!jd!Zd%-Z@u@RBɢu%)q }pHiy)}Oyyi}k;i:z@?4<ᖝr3,3?AF ?FA?Fl ٱF. NAHRS rotation from veh to nav: [[0.724276,-0.664607,-0.183638],[0.683123,0.727817,0.060211],[0.093638,-0.169057,0.981148]]FHC-?tD@vǿ`$?GJ? Ԯ??ણſe?iF ?IF_;FCYVVRByVYI\i=Mb@Mb@Mb@9999 99=n?9iYi=mZFymlDm8;Em>Q 5b4?Q 9b4 )12BY6?Q E:yE?Q I? CI :i:b4y ɮ ZA jh1=DNOT Ignoring new targets: 59.75 m.bh9=Powering the camera and arming the capture device at range: 60.00 m.2h9RhEZhEU ProNav: ac range: 59.754772 m, nav range: 51.933807 m, bearing: 42.300760 deg, approach rate: -0.719793 m/s, LOS rate: -0.027611 deg/s, cmd heading: 43.078693 deg, new cmd heading: 43.043437 deg. BhU]HeadingCmd: 0.751250 target range: 59.754772 and range: 60.00 m.h]Q@?hY*hY"hY hY2hagafafafidididijdqZduP@额WRBɢu) ci)顡i;iQ@?E<CE  E E E "E *E ~:VE ZE a @a @a @a @} T****** received valid address query ******} R****** received valid ping request ******} received new query, but waiting for acoustic response period to elapseSZ,~?AbO ?bA?btٱb4. jAHRS rotation from veh to nav: [[0.724057,-0.665076,-0.182798],[0.683455,0.727501,0.060268],[0.092903,-0.168572,0.981301]]bHy+?MH@eǿ?G?iۮ?ȷ? “ſ@f?ibO ?Iba;bCYgRBycIbDVDyE#=%EL=ٔM:Q-M>9IYQ=UZFyUtDU؀:EU>YQ 5eb4]?Q 9eb4] )]Q2BYiymE?Q Im?]A CI]:i]:]Tb4yuBɮuOA}EjhDNOT Ignoring new targets: 59.75 m.bhPowering the camera and arming the capture device at range: 60.00 m.lFinal approach. Armed for intercept at range: 60.00 m.\Transitioning guidance mode to: FINAL_APPROACH:h@RhZh ProNav: ac range: 59.754772 m, nav range: 51.662308 m, bearing: 42.290176 deg, approach rate: -0.707119 m/s, LOS rate: -0.027711 deg/s, cmd heading: 43.043439 deg, new cmd heading: 43.011520 deg. Bh$HeadingCmd: 0.750693 target range: 59.754772 and range: 60.00 m.he-@?h*h"h hgfffdddjdZd @enRBɢmb%)i mii)miqiu.-;ie-@?vY<:ŮBBIBRBB =BBBe;B@E^A`=<I I! O5 >ԡ .B,ђ?ANK ?NܧA?N%ٱN>, ^AHRS rotation from veh to nav: [[0.724181,-0.665498,-0.180761],[0.683446,0.727582,0.059381],[0.092001,-0.166543,0.981733]]NH},?K/#ǿ? ZH?0g?Z?HQſZj?iNK ?IN-c;LYrRByruIbD VD :y-=%-L=ٔ5K;Q-5>91Y1=5ZFy=|D=pE=>AQ 5Mb4E?Q 9Mb4Eڷ)Es2BYQyUE?Q IU?E CIE):iEB:EUb4E} E}E}+Ey"E}:*E}xv:VE} [4ZEyBE}< 2Acoustic response timeout Rl,뒻?AJ ?JA?J8ٱJ) VAHRS rotation from veh to nav: [[0.724012,-0.666237,-0.178703],[0.683720,0.727429,0.058094],[0.091290,-0.164244,0.982186]]JH+?Qƿ?G??^?ſ n?iJ ?IJ-uc;JCYbRBybIiuMb@Mb@Mb@qqqq q9ud;O?Mb? rh?Yu4?yu9Y=ZFyD)F:E>Q 5b4?Q 9b4g)2BY4?Q E:yH?Q I? CI ;i ;b4y BɮAEmB*** querying acoustic contact ***ii iijhDNOT Ignoring new targets: 59.75 m.bhRh#Zh# ProNav: ac range: 59.754772 m, nav range: 51.086201 m, bearing: 42.264151 deg, approach rate: -0.699617 m/s, LOS rate: -0.035811 deg/s, cmd heading: 42.978023 deg, new cmd heading: 42.933008 deg. BhĺHeadingCmd: 0.749322 target range: 59.754772 and range: 60.00 m.h??h*h"h hgfffdddjdZd@E- E-E--E)"E-V:*E-ą:VE-t4ZE)a5@a5@a5@a5@RBɢX) i)M2Acoustic response timeouti5ތ;i??<qN@ @@@@=@1Y ^A <I) I9 OE >#M,Gu?A>gGJhAZ2Acoustic response timeoutTr 9rhAYrA% ?%A?%nٱ%) 5AHRS rotation from veh to nav: [[0.724018,-0.666502,-0.177688],[0.683829,0.727314,0.058237],[0.090420,-0.163673,0.982362]]%H&+?Szƿ`?(F?6ѭ?%?`:Ŀo?i% ?I%E c;%CYERByEI IIbD]VD]BBBIBRBB =BBBJ;B?EBuBCBuBCBqBqBqCuU4y=% E=ٔ  ;Q- >9 Y=ZFyD@9E>Q 5%c4ǐ?Q 9-c4)2BY)y-H?Q I-? CI;i ;z c4y5Bɮ5A=EAjhyDNOT Ignoring new targets: 59.75 m.bhRhj-Zhj- ProNav: ac range: 59.754772 m, nav range: 50.794533 m, bearing: 42.249115 deg, approach rate: -0.731041 m/s, LOS rate: -0.037903 deg/s, cmd heading: 42.933008 deg, new cmd heading: 42.887642 deg. BhкHeadingCmd: 0.748531 target range: 59.754772 and range: 60.00 m.h??h*h"h hgfffdddjdZdΆ@eRBɢ) ;i)i`;i??r<e>,t?Ajx* ?jB?jٱjF& vAHRS rotation from veh to nav: [[0.723399,-0.667765,-0.175453],[0.684572,0.726749,0.056543],[0.089752,-0.161013,0.982863]]jH&?T^@;uƿ?A?@>? ? Ŀs?ijx* ?IjQb;hY~RBy~Ii}Mb@Mb@Mb@yyyy y9}B`"?Zd;O?~jt?Y}.?y}j<}<}CAy }EA)}AyY}AbDVDy*>%O=ٔ :Q->9Y=ZFyD%f;E%>)Q 55c4-dא?Q 9=c4-Ƨ)-2BY=/?Q E=:y=K?Q I=?-f CI-P;i-:-c4yE BɮMOAMEjhquDNOT Ignoring new targets: 59.75 m.bhqRh}PZh}P ProNav: ac range: 59.754772 m, nav range: 50.517597 m, bearing: 42.230758 deg, approach rate: -0.684979 m/s, LOS rate: -0.045653 deg/s, cmd heading: 42.887642 deg, new cmd heading: 42.832270 deg. BhԑHeadingCmd: 0.747564 target range: 59.754772 and range: 60.00 m.h]`??h*h"h hgfffdddjdZd`@RBɢN) t=i)i;i]`??Ƈ<] 2Acoustic response timeout ,9?A22t ?2JB?2Ñٱ2bb$ :AHRS rotation from veh to nav: [[0.722676,-0.668989,-0.173762],[0.685430,0.726021,0.055498],[0.089027,-0.159208,0.983223]]2H( ?`\h@=ƿ ?;?@1j?@|ʶ?`Ŀv?i22t ?I27a;2CYfSByfIbDrVDryvڊ=%vY=ٔz:Q-z>9xY|=~ZFy~D~K;E>Q 5 c4吊?Q 9c4&)2BYyK?Q I? CI:i|:d%c4yɮ%A!jhAMDNOT Ignoring new targets: 59.75 m.bhIRhMTZhUTe ProNav: ac range: 59.754772 m, nav range: 50.272182 m, bearing: 42.214018 deg, approach rate: -0.678252 m/s, LOS rate: -0.046491 deg/s, cmd heading: 42.832270 deg, new cmd heading: 42.781804 deg. Bhe@mHeadingCmd: 0.746683 target range: 59.754772 and range: 60.00 m.hm&??hi*hi"hi higifqfqfqdqdydyjdyZd}WG @颭RBɢρ) 4=i)A顱igv;i&??<HA>AA?AB>BBIB4SBBBBDB7;B?Ei A I I O- >,)R?A $ɰ&;R ?R/~B?R2ٱR6[# ZAHRS rotation from veh to nav: [[0.722181,-0.669810,-0.172655],[0.686038,0.725478,0.055087],[0.088359,-0.158231,0.983441]]RH?@oƿ ?7?f4??@ĿXx?iR ?IRʳ`;RCYbSBybIEr ErEr)Ep"Er:*Er:VErFA4ZEpBEr39 Y =ZFyD:E>Q 5%c4*?Q 9%c4)3BY)y-0L?Q I-? CI:i[:3c4y5Bɮ!AEjhDNOT Ignoring new targets: 59.75 m.bhRhOZhO52Acoustic response timeout= ProNav: ac range: 59.754772 m, nav range: 49.995857 m, bearing: 42.194730 deg, approach rate: -0.646192 m/s, LOS rate: -0.045354 deg/s, cmd heading: 42.781805 deg, new cmd heading: 42.723623 deg. BhEEHeadingCmd: 0.745668 target range: 59.754772 and range: 60.00 m.hE>?hI*hI"hI hIgIfifqfqdqdydyjdyZd}'!@RBɢ") ?g <?Ii=L@A @A@E/@Aԙ^AE <  2Acoustic response timeoutIA IQ O] >%,@l?AF ?FNB?F~ٱFL!P ZAHRS rotation from veh to nav: [[0.721216,-0.671283,-0.170956],[0.687158,0.724490,0.054113],[0.087531,-0.156501,0.983792]]FH 4?&{ſ1?/?´?`ih?<Ŀ`8{?iF ?IFi`;DY~(SBy~IiMb@Mb@Mb@ 9q= ףp?~jt?/$?Y+?y<<A tA)AYAbDVDya=%@=ٔT;Q->9Y=ZFyDd;E>Q 5c4?Q 9c4)23BY+?Q E:y?M?Q I?5 CI:i:yBc4yɮAB*** querying acoustic contact ***i ijh  DNOT Ignoring new targets: 59.75 m.bh RhqZhq% ProNav: ac range: 59.754772 m, nav range: 49.713413 m, bearing: 42.173442 deg, approach rate: -0.697109 m/s, LOS rate: -0.052840 deg/s, cmd heading: 42.723622 deg, new cmd heading: 42.659396 deg. Bh% -HeadingCmd: 0.744547 target range: 59.754772 and range: 60.00 m.h->?h)*h)"h) h)g)f1f1f9d9d9d9jd9ZdE!@SBɢ2)! %?[<g%?IDzD?AE EE*E"E:*Ez:VE(N4ZEa@a@a@a@%O@! @!@%/@)U2Acoustic response timeout^AM ?,?A2; ?2eC?2.bٱ2n! :AHRS rotation from veh to nav: [[0.720745,-0.672040,-0.169966],[0.687781,0.723880,0.054357],[0.086505,-0.156077,0.983950]]2H@X?`Zpſ@N?*?ԫ?-%?`Sÿ |?i2; ?I2_;2CYBJSByBIbDJVDJ밍R2Acoustic response timeoutyV=%V\=ٔZ5;Q-Z>9XY\=^ZFy^Db= ;Eb>dQ 5jc4fI?Q 9jc4f)fN3BYhynqM?Q In?ft CIf:if;f|Oc4yrBɮr¥ArE|jhDNOT Ignoring new targets: 59.75 m.bhBe>BaBeIBeqSBBe =BaBaBe ;Be?ERhkZhk ProNav: ac range: 59.754772 m, nav range: 49.465790 m, bearing: 42.154359 deg, approach rate: -0.665127 m/s, LOS rate: -0.051516 deg/s, cmd heading: 42.659394 deg, new cmd heading: 42.601857 deg. Bhk HeadingCmd: 0.743543 target range: 59.754772 and range: 60.00 m.hX>?h*h"h hgfffdddjdZd "@--SBɢ5 )Q U?e?IiIfA)fA @  @ @ 0@@=@=1bE|a4jE^4rET/E EE,E"E&:*E]t:VEg4ZEBEe;ԁ ,V?A  ? >\C? jٱ  %AHRS rotation from veh to nav: [[0.720024,-0.673026,-0.169120],[0.688645,0.723050,0.054457],[0.085631,-0.155674,0.984090]] H`p ?mſa ?:#???"ÿ}?i  ?I _; CY-]SBy5I9=AQiMb@Mb@Mb@ 9/$?{Gz?S㥛?Y1(?y#=/<CA )AYGA bDVDy#=%8=ٔ,;Q->9Y=ZFyD8&;E>Q 5c4%?Q 9 c4@)q3BY (?Q E :y {T?Q I? CIT ;i ;_c4yBɮA EjhAEDNOT Ignoring new targets: 59.75 m.bhARhMQZhQ ProNav: ac range: 59.754772 m, nav range: 49.176426 m, bearing: 42.122481 deg, approach rate: -0.652136 m/s, LOS rate: -0.072265 deg/s, cmd heading: 42.601857 deg, new cmd heading: 42.505661 deg. BhaFHeadingCmd: 0.741864 target range: 59.754772 and range: 60.00 m.h=?h*h"h hgf f f d)d)d)jd)Zd5#@]HSBɢ]6)Y eX ] 2Acoustic response timeout,O?A:k ?:C?:^ٱ: FAHRS rotation from veh to nav: [[0.719203,-0.674154,-0.168117],[0.689622,0.722117,0.054490],[0.084666,-0.155127,0.984260]]:H?@ބſa??!?@?`2ÿ?i:k ?I:_;:CYNhSByNIbDVVDV0y^<%^`=ٔb-;Q-b>9`Y`=fZFyfDfe;Ef>hQ 5nc4j_3?Q 9nc4j)j3BYpyrT?Q Ir?j CIjD;ijr;jkc4yvBɮtv EjhDNOT Ignoring new targets: 59.75 m.bhRhZh- ProNav: ac range: 59.754772 m, nav range: 48.938862 m, bearing: 42.095675 deg, approach rate: -0.651573 m/s, LOS rate: -0.073878 deg/s, cmd heading: 42.505661 deg, new cmd heading: 42.424853 deg. Bh-J5HeadingCmd: 0.740453 target range: 59.754772 and range: 60.00 m.h5Z=?h1*h1"h9 h9g9f9fAfAdAdAdIjdIZdM#N$@u]SBɢuT)y }P0BaBe-IBeSBBaBaBaBe ;Be?E^Au@o=IIO>A ,c*ԓ?A.M% ?.C?.ٱ.! :AHRS rotation from veh to nav: [[0.718462,-0.674943,-0.168116],[0.690510,0.721182,0.055606],[0.083712,-0.156037,0.984198]].H?#քſ??Sx? &n?`ÿ~?i.M% ?I._;.CYBxSByB IEb EbEb*E`"Eb:*Eb:VEb(N4ZE`BEb<;Q-v>9tYx=zZFyzDzm9;Ez>|Q 5c4~B?Q 9c4~f)~3BY y U?Q I ?~@ CI~:i~:~zc4yɮdAjhDNOT Ignoring new targets: 59.75 m.bhRhͣZhͣ  ProNav: ac range: 59.754772 m, nav range: 48.672146 m, bearing: 42.064893 deg, approach rate: -0.617034 m/s, LOS rate: -0.071603 deg/s, cmd heading: 42.424853 deg, new cmd heading: 42.332001 deg. Bh DHeadingCmd: 0.738833 target range: 59.754772 and range: 60.00 m.h%$=?2Acoustic response timeout!h!*h!"h! h!g!f)f)f)d)d1d1jd1Zd= ,%@exSBɢe)i m9ii)miiimZ6-;iu%$=?}<}=I}%$=?IyO@ @@/@@gA@gAI^AU]=AU>AU>qIIO> 2Acoustic response timeoutԙ ,W?A6 u ?6KD?6ٱ6Z! BAHRS rotation from veh to nav: [[0.717678,-0.675870,-0.167742],[0.691438,0.720239,0.056291],[0.082769,-0.156382,0.984222]]6H8?@xſ@C ?2 ?2Ҭ?Y0?VĿ~?i6 u ?I6_,`;6CYJSByJIINp<)N4=iMb@Mb@Mb@ 9v/? ףp= ?~jt?Yx)?yQ8=<ʳAA pA)GAY=AbD5VD5yE)=%ED=ٔE;Q-M>9IYI=MZFyMDU?;EU>YQ 5ec4]R?Q 9ec4])]3BYm)?Q Em:ymV?Q Im?] CI]3:i]:]c4yuBɮu[A EEB*** querying acoustic contact ***iI iIqjhDNOT Ignoring new targets: 59.75 m.bhRhOZhO ProNav: ac range: 59.754772 m, nav range: 48.398769 m, bearing: 42.030959 deg, approach rate: -0.645412 m/s, LOS rate: -0.080567 deg/s, cmd heading: 42.332000 deg, new cmd heading: 42.229622 deg. Bh+]HeadingCmd: 0.737046 target range: 59.754772 and range: 60.00 m.h ,/?A22 ?2óD?2Yٱ2" :AHRS rotation from veh to nav: [[0.716618,-0.676896,-0.168140],[0.692616,0.719027,0.057304],[0.082109,-0.157521,0.984096]]2H? ! ſ)?@D?V??`)Ŀ@}?i22 ?I2?`;2CB2Acoustic response timeoutYJSByJ IbDvVDv0B>BACBLIBSBBBBB;B?Ey,=%M=ٔ%:Q-%>9% ?Y% ?=-ZFy-D-;E->1Q 5=c45`?Q 9=c45y)53BYAyEW?Q IE?5 CI5j;i5;5c4yIɮM9AIjhq}DNOT Ignoring new targets: 59.75 m.bhyRh}.кZh.к ProNav: ac range: 59.754772 m, nav range: 48.137005 m, bearing: 41.997598 deg, approach rate: -0.710174 m/s, LOS rate: -0.091003 deg/s, cmd heading: 42.229622 deg, new cmd heading: 42.128993 deg. BhyHeadingCmd: 0.735290 target range: 59.754772 and range: 60.00 m.h;Y ,!?A=G ?=E?=ަٱ=S# UAHRS rotation from veh to nav: [[0.715531,-0.678017,-0.168251],[0.693823,0.717799,0.058084],[0.081388,-0.158297,0.984031]]=H? P=ſ 3?5?4?մ?`CĿ/}?i=G ?I=&9`;=CY]SByeIiMb@Mb@Mb@ 9K7A`?J +?:v?Y+?yH=T< )YbDVD:y !% ;=ٔ:Q->9"?Y"?=ZFyDt;E>!Q 5-c4%/q?Q 9-c4%t)%3BY5+?Q E5:y5}X?Q I5?%CI%Q:i%8:%֥c4y= Bɮ=XAAjhamDNOT Ignoring new targets: 59.75 m.bhiRhmκZhuκ ProNav: ac range: 59.754772 m, nav range: 47.846809 m, bearing: 41.958279 deg, approach rate: -0.663074 m/s, LOS rate: -0.090385 deg/s, cmd heading: 42.128993 deg, new cmd heading: 42.010321 deg. BhxHeadingCmd: 0.733218 target range: 59.754772 and range: 60.00 m.h4;?h*h "h  h g f ffdddjd9Zd=x'@}2Acoustic response timeout颍SBɢ ) Ei) 项iiI ;i4;?y<r?=I4;?I19@ @@@@>@ >Iq E  E E *E "E :*E x:VE (N4ZE a @a @a @a @^A 31=A fAzA fA5 2Acoustic response timeoutA! I) II Om >K,;?A2 { ?2QE?2ٱ2% NAHRS rotation from veh to nav: [[0.715024,-0.678262,-0.169415],[0.694414,0.717073,0.059962],[0.080813,-0.160519,0.983719]]2H y?Sfſ@8?C?W?-?`ߋĿ z?i2 { ?I2"`;2CYVSByV$I XXbDbVDbNyj<%j_=ٔj:Q-n>9lYl=nZFynDrM ;Er>tQ 5zc4v~?Q 9zc4vLo)v4BYxyzX?Q I~?vSCIvL;iv&;vc4yBɮ,AEjh1EDNOT Ignoring new targets: 59.75 m.bhARhENҺZhENҺu ProNav: ac range: 59.754772 m, nav range: 47.603741 m, bearing: 41.924739 deg, approach rate: -0.662871 m/s, LOS rate: -0.091932 deg/s, cmd heading: 42.010322 deg, new cmd heading: 41.909189 deg. Bhu^|}HeadingCmd: 0.731453 target range: 59.754772 and range: 60.00 m.h}@;?hy*hy"hy hygyfffdddjdZd s(@ SBɢ ?)  zi)Ci;i@;?Kf<G=aI}@;?I g>C5P@1 @9@=0@9MGa6z9YcAy=?=AUPExceeded connect timeout, disconnecting.iqIuA}BDAT read: Response Not Received }*response not received}RDAT read: user:36>Tx time:04:00:16.2311 BB_IBSBB =BBB;B?EBBBBƗ =BƗ =CH5^A] ==Թ A .AI I O >u,,-U?A:$ ?:E?:7ٱ:a'ED EFEF,ED"ED*EF:VEFg4ZEDBEF69v ?Yv ?=vZFyvDvd;Ev>xQ 5~c4zݍ?Q 9c4zi)z-4BYyY?Q I?zCIz;iz;zc4y ɮ Ajh1=DNOT Ignoring new targets: 59.75 m.bh9RhE]׺ZhE]׺U ProNav: ac range: 59.754772 m, nav range: 47.336155 m, bearing: 41.886951 deg, approach rate: -0.662905 m/s, LOS rate: -0.094144 deg/s, cmd heading: 41.909190 deg, new cmd heading: 41.795186 deg. BhU8UHeadingCmd: 0.729464 target range: 59.754772 and range: 60.00 m.h] :?hY*hY"hY hYgYfafafadadidijdiZdm@+)@额SBɢ) i)_顡iR:i :?<S=I :?IDAT read: 2Acoustic response timeoutO@ @@4@^AMSE= 2Acoustic response timeout) A ؟AI I O >V,io?A2%#?2E?2mٱ2)f* :AHRS rotation from veh to nav: [[0.713247,-0.679317,-0.172644],[0.696253,0.715032,0.062943],[0.080688,-0.165098,0.982971]]2H ?5ƿG? ??`?@!ſt?i2%#?I2q`;2CYBSByB#IiMb@Mb@Mb@ 9oʡ?ˡE?Mb`Y-?y'=nAA ΪA)YףAbDVDk2yʼ%;=ٔyQ->9"?Y"?=ZFyDs-;E>Q 5 c4?Q 9 c48d)B4BY _-?Q E :y -U?Q I ?CI:i/:c4y!BɮHAE=B*** querying acoustic contact ***i9 i9jhAMDNOT Ignoring new targets: 59.75 m.bhIRhMZhM] ProNav: ac range: 59.754772 m, nav range: 47.041584 m, bearing: 41.850351 deg, approach rate: -0.671580 m/s, LOS rate: -0.083965 deg/s, cmd heading: 41.795184 deg, new cmd heading: 41.684697 deg. BhefeHeadingCmd: 0.727535 target range: 59.754772 and range: 60.00 m.he?:?hi*hi"hi higififqfqdqdydyjdyZd} , *@颥TBɢ0) i)(0))i5v:i5?:?=1<=}]=I=?:?I9II)IE EE*E"E:*E:VE(N4ZEa@a@a@a@)>@@2Acoustic response timeouti@q @q@u4@q@y@yQ^A XR=ԁ A .AI I O >] nManaging dock network, ignoring radio surface power offB",9{?A2Acoustic response timeout6M?6i$F?6Ǥٱ6)8-B<B<B>qIB>TBB> =B<B<B>݈;B>q?E zAHRS rotation from veh to nav: [[0.712812,-0.679343,-0.174335],[0.696735,0.714376,0.065016],[0.080372,-0.167809,0.982538]]6HZ?-Pƿ@K?@+?@椰?E?zſp?i6M?I6M`;6CYSBy;II =) >bDVDky%9=%%V=ٔ-Y:Q-->9- ?Y5 ?=5ZFy5D=:E=>9Q 5Ec4=8?Q 9Mc4=7_)=T4BYIyMUU?Q IM?=&CI=:Qi=B:=^c4yYɮ]AYjhDNOT Ignoring new targets: 59.75 m.bhRh{úZh{ú ProNav: ac range: 59.754772 m, nav range: 46.785927 m, bearing: 41.818016 deg, approach rate: -0.671962 m/s, LOS rate: -0.085452 deg/s, cmd heading: 41.684696 deg, new cmd heading: 41.587161 deg. BhjHeadingCmd: 0.725833 target range: 59.754772 and range: 60.00 m.h/9?h*h"h hgfffdddjdZd*@+TBɢ) *˽i)mil:i/9?e'<'e=I/9?I@ @@/@ԁE EE)E"E:*Ez:VEFA4ZEBEJ- m(,mW?A-?-zbF?-Vٱ-0/ mAHRS rotation from veh to nav: [[0.712153,-0.679686,-0.175684],[0.697411,0.713603,0.066242],[0.080345,-0.169698,0.982215]]-H`?|ƿ1Q?@?6?@|? ſ On?i-?I-a`;)YSBy.IԱi-Mb@Mb@Mb@)))) )9-oʡ?9YYY=]ZFy]De_ ;Ee>iQ 5uc4m ?Q 9uc4mY)me4BYu-?Q E}:y}H?Q I}?msCIm:im:mc4y'Bɮ:AjhDNOT Ignoring new targets: 59.75 m.bhRhOZhO ProNav: ac range: 59.754772 m, nav range: 46.487671 m, bearing: 41.798082 deg, approach rate: -0.674978 m/s, LOS rate: -0.045402 deg/s, cmd heading: 41.587161 deg, new cmd heading: 41.526975 deg. BhEHeadingCmd: 0.724782 target range: 59.754772 and range: 60.00 m.hX9?h*h"h hgfffdddjdZd+@M2Acoustic response timeout颍GTBɢ9&) 4i)顑i:iX9?<7l=IX9?I]N@Y @Y@]/@Y ^Ae (a=E  E E -E "E ;*E :VE t4ZE a @a @a @a @ 2Acoustic response timeout1 Au ؟AIy I O >U.,W"?AB?BrF?B\QٱB1 JAHRS rotation from veh to nav: [[0.712022,-0.679539,-0.176783],[0.697624,0.713200,0.068313],[0.079661,-0.171969,0.981876]]BH?Ǿ`נƿR??|?d?`ƿk?iB?IBe`;@YRSByV>IbD^VD^Jyf=%fh=ٔfN:Q-f>9j"?Yj"?=jZFyjDj5:En>pQ 5vc4r=͑?Q 9vc4r?U)rr4BYtyvH?Q Iv?rCIr:ire:r%c4y|ɮ~A|jh!%DNOT Ignoring new targets: 59.75 m.bh!Rh-7RZh-7R= ProNav: ac range: 59.754772 m, nav range: 46.249996 m, bearing: 41.781958 deg, approach rate: -0.673792 m/s, LOS rate: -0.045946 deg/s, cmd heading: 41.526976 deg, new cmd heading: 41.478355 deg. Bh=BEHeadingCmd: 0.723934 target range: 59.754772 and range: 60.00 m.hES9?hA*hA"hI hIgIfIfQfQdQdQdQjdYZd]e,@颅_TBɢ*) $i)顉i:iS9?x<>o=IS9?I!-t>i-%>O@ @@/@@@>Ae2Acoustic response timeoutByAyBBBxIB(TBB =BBB͈;Ba?E^Ah=iA! I1 II O] >ԙ z5,֔?AbEuT4jEuwX4rEu./E2 E2E2+E0"E2:*E2z:VE2 [4ZE0BE2C8JE0a>:E0a>B|?B F?B͢ٱBg4 JAHRS rotation from veh to nav: [[0.711807,-0.679308,-0.178527],[0.697872,0.712752,0.070419],[0.079410,-0.174714,0.981412]]BH?ƿT? ?? 6T?]ƿg?iB|?IB^6`;BCYRSByRAI TTbD^VD^y M<% F=ٔ :Q->9Y=ZFy D=P:E=>AQ 5Md4Eޑ?Q 9Md4EP)E4BYIyUH?Q IU?ECIEK:iEB:Ed4y},Bɮ}A}E߽?߽%=2Acoustic response timeoutjhDNOT Ignoring new targets: 59.75 m.bhRhMQZhMQ  ProNav: ac range: 59.754772 m, nav range: 45.969128 m, bearing: 41.762598 deg, approach rate: -0.659644 m/s, LOS rate: -0.045747 deg/s, cmd heading: 41.478356 deg, new cmd heading: 41.419921 deg. Bh * HeadingCmd: 0.722914 target range: 59.754772 and range: 60.00 m.h9?h*h"h h1g1f9f9f9d9dAdAjdAZdE C-@q|TBɢ,-) ,i)iƞ:i9?=<t=I9?I@ @@@ԡ^Am@p=m 2Acoustic response timeoutA I I O > Ȥ;,M?AJM?J]F?J8#ٱJ@|6 ZAHRS rotation from veh to nav: [[0.712274,-0.678526,-0.179633],[0.697432,0.713005,0.072205],[0.079086,-0.176711,0.981080]]JH@? |@5ƿ \Q? ?|?>?@zƿ`e?iJM?IJO_`;JCYjSByj6IiMb@Mb@Mb@ 9K7?MbZd;OYI,?yjAIA pA)vAYpAbDVDNy $%==ٔwE:Q->9Y=ZFy)DúE>Q 5d4?Q 9d4J)4BYo,?Q E:y>?Q I?ACIH:i<:d4y(Bɮ&AE-B*** querying acoustic contact ***i) i)jh9EDNOT Ignoring new targets: 59.75 m.bhARhEZhE] ProNav: ac range: 59.754772 m, nav range: 45.681759 m, bearing: 41.756650 deg, approach rate: -0.687127 m/s, LOS rate: -0.014311 deg/s, cmd heading: 41.419920 deg, new cmd heading: 41.401965 deg. Bh]$]HeadingCmd: 0.722601 target range: 59.754772 and range: 60.00 m.heZ8?ha*ha"ha hagafafifidididqjdqZdu.@颥TBɢ$<) uYi)1W顩iΤ:iZ8?<s=IZ8?IDizDm@AE} E}E}-Ey"E}:*E}E:VE}t4ZEya@a@a@a@MP@I @I@M>0@I2Acoustic response timeout^Ai) A I I O >EB, ?AiIBDAT read: Rx Time:04:00:18.7009 TRx dataTimestamp_ set to:1761537620.1724032Acoustic response timeoutB{>BB~IB2TBBBBB;BS?E(J^?Jf5F?JٱJ8 VAHRS rotation from veh to nav: [[0.712709,-0.677712,-0.180973],[0.696996,0.713257,0.073896],[0.079000,-0.178804,0.980708]]JH ?ѯ*ǿM???[9?ƿa?iJ^?IJb`;JCYZSByZPIbDMVDMFyU=%uS=ٔug9Q-u>9yYy=}ZFy}1DtϺE>Q 5d4?Q 9d48F)4BYy>?Q I?CIn;iz;B$d4y.BɮAjhDNOT Ignoring new targets: 59.75 m.bhRhyZhy ProNav: ac range: 59.754772 m, nav range: 45.419540 m, bearing: 41.751383 deg, approach rate: -0.673562 m/s, LOS rate: -0.013610 deg/s, cmd heading: 41.401963 deg, new cmd heading: 41.386069 deg. BhqHeadingCmd: 0.722323 target range: 59.754772 and range: 60.00 m.h,8?h*h"h hgfffdddjdZd?.@-TBɢ-99)) 5Hi1)5xK11i5҂:i=,8?=8H,$?A0TɰTe?e[E?eAҡٱe: AHRS rotation from veh to nav: [[0.713564,-0.676479,-0.182217],[0.696129,0.713923,0.075622],[0.078932,-0.180807,0.980346]]eH?@RǿF?t?[? 4?$ǿ^?ie?Iev`;eCYSByJIieMb@Mb@Mb@aaaa a9e/$?~jt9Y=ZFy:D5E>Q 5d4?Q 9d4?A)4BY(?Q E:y 6?Q I?CI ;i ;3d4y4BɮAEjhDNOT Ignoring new targets: 59.75 m.bhRhԆ9ZhԆ9 ProNav: ac range: 59.754772 m, nav range: 45.129951 m, bearing: 41.757837 deg, approach rate: -0.656879 m/s, LOS rate: 0.014735 deg/s, cmd heading: 41.386070 deg, new cmd heading: 41.405557 deg. Bh!:HeadingCmd: 0.722663 target range: 59.754772 and range: 60.00 m.hv9?]DAT read: 04:00:18.7009 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 333, 0.38,-0.066,-1.689, 0.371,-0.181, PHS= 0.217,-1.463, 0.508, RAW= 157.9, 8.1, CAL= 157.5, 8.4, ROT= 352.5, -8.4 eYgot valid direction response: 04:00:18.7009 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 333, 0.38,-0.066,-1.689, 0.371,-0.181, PHS= 0.217,-1.463, 0.508, RAW= 157.9, 8.1, CAL= 157.5, 8.4, ROT= 352.5, -8.4 mPDAT read: Bearing 215.8, -4.5 (Local) m~Local bearing/azimuth received: Bearing 215.8, -4.5 (Local) }DAT read: Range 11 to 50 : 49.2 m (Round-trip 65.7 ms) speed 0.4 m/s RDAT read: user:37>Tx time:04:00:19.7811 ԉR#Rx 1: Read range and direction messages.^direction in FSK: [0.980809,-0.129126,0.146083]Fpublishing direction and range infoy)-|b?F:J3/8ٲ?Y-DB)-)) ))-HI-?5^>i-C-J ?-A`0@->-/@ -Q >)-@I-Q ))-l<?O2(r?aC? -))?)-I- i-Q )) 2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.h!*h!"h! h!g)f)f1f1d1d1d9jd=H@Zd=?TBɢ>) si)?i gd:iv9?=f<. m=Iv9?IԱN@ @@@E  E E *E "E V:*E z:VE (N4ZE a @a @a @a @ =  DAT read:  2Acoustic response timeout^A np= I I) O= > P,T@?A2 ?2E?2Fٱ2hU; :AHRS rotation from veh to nav: [[0.714584,-0.675378,-0.182299],[0.695112,0.714823,0.076467],[0.078667,-0.181360,0.980265]]2H@?@Uǿ [>? ?\?#?6ǿ U^?i2 ?I2Ua`;2CYBSByBKIbDNVDNkyR;%V\=ٔV;:Q-V>9XYX=ZZFyZADZ E^>\Q 5bd4^&"?Q 9fd4^=)^4BYdyf5?Q Ij?^ CI^: ;i^;^@d4ylɮnAliyi}P9+?AJi}CBRi}CBji}L*?b}dFH@f*;NUBo@R}|b?F:J3/8ٲ?Zi} bi}Q j} ⇧B@K8Gm=@;.~'@Z}RH]?eq8?' 4?2i}oA:i}<B"i}iOj?*i}66Bi}ӁBi}s=I?iyi}܏Bi}4Bi} 9?- addTargetRange:: Added new target pos. range: 49.200001 m, deltaT: 15.875052 s, deltaX: -10.799999 m, approachRate: -0.680313 m/s, rangeRepo size: 4 = Added new target pos. range: 48.997154 m, bearing: 38.266805 deg, lat: 36.779347 deg, lon: -121.859554 deg, deltaT: 15.875052 s, deltaX: -10.757618 m, approachRate: -0.677643 m/s, posRepo size: 4 jh9=DNOT Ignoring new targets: 49.00 m.bhARhEZhAU ProNav: ac range: 48.997154 m, nav range: 45.185772 m, bearing: 41.425303 deg, approach rate: 0.000000 m/s, LOS rate: 0.014735 deg/s, cmd heading: 41.405556 deg, new cmd heading: 41.422146 deg. BhQ]HeadingCmd: 0.722953 target range: 48.997154 and range: 49.20 m.h]p9?hY*hY"ha hagafaffdddjdZd@[#?=TBɢ=xQ)9 =քi9)E`aaieP:imp9?mB9B=IB=E  E E -E "E &:*E x:VE t4ZE BE e;AHRS rotation from veh to nav: [[0.715901,-0.673753,-0.183147],[0.693765,0.715967,0.077985],[0.078585,-0.182891,0.979988]]2H`?a ^qǿR3?3??`!?hǿ\?i2E4 ?I2C`;2CYFSByFIIbDNVDNNyV/%VK=ٔV2W9Q-V>9XYX=ZZFyZID^E^>b2Acoustic response timeout9Q 5Ed4=3?Q 9Md4=]8)=4BYIyM15?Q IM?=SCI=H:i=:=BOd4yU:Bɮ}1A}EjhDNOT Ignoring new targets: 49.00 m.bhRhh9Zhh9 ProNav: ac range: 48.997154 m, nav range: 44.910873 m, bearing: 41.430645 deg, approach rate: -0.650549 m/s, LOS rate: 0.012719 deg/s, cmd heading: 41.422147 deg, new cmd heading: 41.438271 deg. Bh :HeadingCmd: 0.723234 target range: 48.997154 and range: 49.20 m.h%9?h*h"h hgf f f d dd1jd1Zd=Ӻ?颥UBɢT) 8i)z顩i 8:i%9?K<Is`=I%9?II!)!i@ @@/@@>@=ԙiqIq}2Acoustic response timeout^AXh=I I) O= > C`\,s?A2d ?2~D?2}ٱ2H < :AHRS rotation from veh to nav: [[0.717393,-0.672411,-0.182238],[0.692248,0.717441,0.077914],[0.078355,-0.182049,0.980163]]2H?c@Sǿ`&?`G?.? ?`_Mǿ~]?i2d ?I2Nh`;0PYZTByZ`Ii=Mb@Mb@Mb@9999 99=RQ?&1Mb`Y="?y=P=99 =+A)99Y==AbDUVDU:yeį=%e?=ٔmv :Q-m>9iYi=uZFyuRDulEu>yQ 5d4}D?Q 9d4}3)}4BY#?Q E:y0?Q I?}CI}:i}:}]d4yɮAB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 49.00 m.bhRh:Zh: ProNav: ac range: 48.997154 m, nav range: 44.649658 m, bearing: 41.442460 deg, approach rate: -0.646236 m/s, LOS rate: 0.029399 deg/s, cmd heading: 41.438273 deg, new cmd heading: 41.473923 deg. Bhh:HeadingCmd: 0.723857 target range: 48.997154 and range: 49.20 m.hN9?h*h"h hgfffdddjdZd@3?E} E}E}+Ey"E}:*E}z:VE} [4ZEya@a@a@a@"UBɢ4S) wi)i!:i=N9?=0<=yW=I=N9?IA2Acoustic response timeoutO@ @@@ % G^A- <|^=9 Q 19 Y hAI I O >! BA BA BE IBE PTBBA BA BE DBE ;BE 4?EBACBACBB˘ =B˘ =C%4 2Acoustic response timeoutGc,3?AB- ?B9D?Ba%ٱBe: JAHRS rotation from veh to nav: [[0.718702,-0.671293,-0.181201],[0.690916,0.718753,0.077644],[0.078117,-0.180998,0.980376]]BH?:{1ǿ?@??s?*ǿ>_?iB- ?IBL`;BCYRTByRlIbD^VD^βyfJ=%fU=ٔf#:Q-f>9hYh=jZFyjZDjퟻEn>pQ 5rd4rT?Q 9vd4r/)r4BYtyv/?Q Iv?rCIr:ir9:rkd4yzԁ ui,?A-o ?-|C?-Gٱ-]; EAHRS rotation from veh to nav: [[0.720144,-0.669775,-0.181091],[0.689449,0.720065,0.078526],[0.077803,-0.181403,0.980326]]-Hj ?n-ǿ ? ?G?`?`78ǿ`^?i-o ?I-;F`;-CYU0TBQyU}IiMb@Mb@Mb@ 9K7A?V-~jt?Y "?ym<A ZA)ҘAYA=2Acoustic response timeoutbDEVDEky]9iYi=mZFymcDuEu>Q 5d4g?Q 9d4)+)&5BY"?Q E:y.?Q I?CI=N;iSM;{d4yɮAjhDNOT Ignoring new targets: 49.00 m.bhRh":Zh": ProNav: ac range: 48.997154 m, nav range: 44.117664 m, bearing: 41.470500 deg, approach rate: -0.624503 m/s, LOS rate: 0.035533 deg/s, cmd heading: 41.509276 deg, new cmd heading: 41.558558 deg. Bh:HeadingCmd: 0.725334 target range: 48.997154 and range: 49.20 m.hx9?h*h"h hgfffdddjdZdU@]UBɢF/S) ni)AiZ:9iEx9?EF^p,?Aɰp;>A ?>B?>Uמٱ>; JAHRS rotation from veh to nav: [[0.721824,-0.667989,-0.181001],[0.687726,0.721600,0.079536],[0.077481,-0.181890,0.980261]]>H .?)` +ǿ?Y?x\?ճ?.Hǿ@M^?i>A ?I>?`;9dYd=fZFyfjDjEj>lQ 5rd4nv?Q 9rd4n')nD5BYpyry-?Q Iv?nWCIn:in :nSd4yzBBɮzuAzEjhDNOT Ignoring new targets: 49.00 m.bh!Rh%1:Zh%1:5 ProNav: ac range: 48.997154 m, nav range: 43.896973 m, bearing: 41.483808 deg, approach rate: -0.638448 m/s, LOS rate: 0.038693 deg/s, cmd heading: 41.558559 deg, new cmd heading: 41.598684 deg. Bh5o:=HeadingCmd: 0.726034 target range: 48.997154 and range: 49.20 m.h=]9?h9*hA"hA hAgAfAfIfIdIdIdQjdQZdU"@}sUBɢ}c) ”i)顁i9i]9?餔<O;=I]9?IԹ)@) @)@-4@)B<ABx>B@CBIByTBBBBB;B'?E=2Acoustic response timeout^A<H= A9 II IY Oe >9 E  E E ,E "E :*E &p:VE g4ZE BE 39\Y\=^ZFy^sDbEb>dQ 5jd4f?Q 9jd4f^#)ff5BYhyj,?Q Ij?fCIf):if:fTd4ypɮr-Apjh  DNOT Ignoring new targets: 49.00 m.bh Rh{;:Zh{;: ProNav: ac range: 48.997154 m, nav range: 43.644562 m, bearing: 41.500133 deg, approach rate: -0.629923 m/s, LOS rate: 0.040977 deg/s, cmd heading: 41.598683 deg, new cmd heading: 41.647942 deg. Bh:HeadingCmd: 0.726894 target range: 48.997154 and range: 49.20 m.h:?h*h"h hgfffdddjdZdx@ UBɢ W)  ci)1i5p9i :?5v<5٥/=I5:?IA)@) @)@-4@)I]BDAT read: Rx Time:04:00:22.2479 eTRx dataTimestamp_ set to:1761537623.700576e2Acoustic response timeoutq^A l;=ԙ A I I O >ն|,S?A2d ?2qA?2 ٱ2w< :AHRS rotation from veh to nav: [[0.725688,-0.663961,-0.180367],[0.683741,0.725154,0.081550],[0.076648,-0.182504,0.980213]]2H8?+?@ǿ4?u4?r?-?G\ǿ]?i2d ?I2q`;2CYBTByBIi Mb@Mb@Mb@     9  r?L7A`堿~jt?Y #?y + D= hA tA &A) A Y fAbD%VD%βy5+=%5A=ٔ5Fd:Q-=>99Y9==ZFy={DE=ϻEE>IQ 5Ud4M?Q 9Ud4M)M5BYUC$?Q EU:yU7?Q I]?MCIM:iM:Md4yeHBɮe!AeEB*** querying acoustic contact ***i ijh  DNOT Ignoring new targets: 49.00 m.bhRh8Zh8EM EMEM(EI"EM;*EM:VEMc44ZEIaU@aU@aU@aU@] ProNav: ac range: 48.997154 m, nav range: 43.376888 m, bearing: 41.502263 deg, approach rate: -0.609825 m/s, LOS rate: 0.004883 deg/s, cmd heading: 41.647942 deg, new cmd heading: 41.654372 deg. Bh]vV9aHeadingCmd: 0.727006 target range: 48.997154 and range: 49.20 m.h:?h*h"h hgfffdddjdZd @=UBɢE!Y)A EꗾiA)E\IIiMNg9iM:?U'=IU:?IQ2Acoustic response timeoutP@ @@/@@%=@%=ԑ^A.=AzAA%.AIAIiO>ԹB B B IB TBB B B B ;B ;?E DAT read: 04:00:22.2479 LVL= 31344, 32753, 32754, 32755, AGC= 70, IDX= 414,-0.01, 2.767, 1.104,-3.129, 2.673, PHS= 0.197,-1.524, 0.438, RAW= 156.5, 9.6, CAL= 156.3, 10.4, ROT= 353.7, -10.4  Ygot valid direction response: 04:00:22.2479 LVL= 31344, 32753, 32754, 32755, AGC= 70, IDX= 414,-0.01, 2.767, 1.104,-3.129, 2.673, PHS= 0.197,-1.524, 0.438, RAW= 156.5, 9.6, CAL= 156.3, 10.4, ROT= 353.7, -10.4  PDAT read: Bearing 215.7, -3.6 (Local)  ~Local bearing/azimuth received: Bearing 215.7, -3.6 (Local)  DAT read: Range 11 to 50 : 46.9 m (Round-trip 62.6 ms) speed 0.6 m/s  RDAT read: user:38>Tx time:04:00:23.3311  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.977632,-0.107931,0.180519] Fpublishing direction and range infoyI M  -H?ѭdlE@?YM ;BI M pzI I I )M FIM ^I>iM oÿM A>M .@M +>M .@ M 9>)M @IM 9I I M Q_?m[?hXg? M "?)M Q,IM i0iM 9I I  2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode. T, ?A2 ?2g@?2Rٱ2D= :AHRS rotation from veh to nav: [[0.727164,-0.662368,-0.180277],[0.682215,0.726471,0.082599],[0.076255,-0.183051,0.980142]]2H`D?`2Qǿ?@??3%?t?3nǿQ]?i2 ?I2O`;2CYTByI AbDVD1yl=%@=ٔ5am:Q-=>9= ?Y= ?==ZFy=DEzEE>IQ 5Ud4M2?Q 9d4M)M5BYyY7?Q I?M#CIM1 @R -H?ѭdlE@?Zii0bi9j>%A@n/<@YV3]V)@Z Ӽ?D"O?>hh\?2i{A:i B"iz0?*i&4BiBix?i&4iIBi-Bi&4? addTargetRange:: Added new target pos. range: 46.900002 m, deltaT: 3.528026 s, deltaX: -2.299999 m, approachRate: -0.651922 m/s, rangeRepo size: 4 - Added new target pos. range: 46.706421 m, bearing: 38.826198 deg, lat: 36.779354 deg, lon: -121.859558 deg, deltaT: 3.528026 s, deltaX: -2.290733 m, approachRate: -0.649296 m/s, posRepo size: 4 jh15DNOT Ignoring new targets: 46.71 m.bh1Rh=Zh9m ProNav: ac range: 46.706421 m, nav range: 43.402164 m, bearing: 40.496049 deg, approach rate: 0.000000 m/s, LOS rate: 0.004883 deg/s, cmd heading: 41.654373 deg, new cmd heading: 41.661171 deg. BhiuHeadingCmd: 0.727125 target range: 46.706421 and range: 46.90 m.hu$:?hq*hq"hq hqgqfyfyfydyddjd@3sG@Zd ?UBɢo[) i) i:39i$:?-<-t^ =I-$:?I)bE|a4jE|a4rES)0Em EmEm+Ei"Em ;*Em:VEm [4ZEiBEmOρ,,?AN2Acoustic response timeoutFs?FW@?FٱFc > ^AHRS rotation from veh to nav: [[0.728676,-0.660639,-0.180521],[0.680641,0.727786,0.083992],[0.075892,-0.184073,0.979978]]FHOQ?`#@Nǿ?J??`m?ഏǿ[?iFs?IFx`;FCYjTByjIԩiMb@Mb@Mb@ 9p= ף?MbPp= ף?Y%?y=;AA VA)ΘAYAbDVD:2y:=%3=ٔ U:Q- >9Y=ZFyDE>Q 5%d4?Q 9-d4)5BY-%?Q E-:y-D?Q I-?lCI& ;im ;d4y=NBɮ=A9jhDNOT Ignoring new targets: 46.71 m.bhRh7Zh%7e ProNav: ac range: 46.706421 m, nav range: 43.116783 m, bearing: 40.472585 deg, approach rate: -0.698339 m/s, LOS rate: -0.057797 deg/s, cmd heading: 41.661173 deg, new cmd heading: 41.590316 deg. BhemHeadingCmd: 0.725888 target range: 46.706421 and range: 46.90 m.hm9?hi*hi"hi higifqfqfqdydydyjdyZd}0,? UBɢ 9\)  oi)S iЁ8i9?ER?1 Nd,sE?A2?2??2ٱ2]> :AHRS rotation from veh to nav: [[0.730075,-0.659102,-0.180486],[0.679171,0.729050,0.084924],[0.075610,-0.184582,0.979904]]2H\?\`(ǿŻ?aT?? ([?^ǿ`[?i2?I2An`;2CYBTByBIbDJVDJ yR=%Re=ٔVO:Q-V>9TYT=VZFyVDZƺEZ>\Q 5bd4^ZȒ?Q 9bd4^)^6BYdyf?D?Q If?^CI^:i^:^jd4yhɮjgAhjhDNOT Ignoring new targets: 46.71 m.bhRhcZhc ProNav: ac range: 46.706421 m, nav range: 42.889244 m, bearing: 40.454258 deg, approach rate: -0.614276 m/s, LOS rate: -0.049738 deg/s, cmd heading: 41.590316 deg, new cmd heading: 41.535045 deg. BhHeadingCmd: 0.724923 target range: 46.706421 and range: 46.90 m.h9?h*h"h hgfffdd d jd Zd `m?AA@ABw>BBIBTBBBBB׈;Bf?E5 VBɢ= `)9 =Hi9)=D 9AiEiE9?M] R=e 2Acoustic response timeoutOm >ԙ ,C_?A2Ӂ?2dX??2Ҹٱ2O> :AHRS rotation from veh to nav: [[0.731365,-0.657897,-0.179659],[0.677851,0.730219,0.085426],[0.074989,-0.184260,0.980013]]2HWg?} ƿ ?]? }޵? |2?ԕǿC\?i2Ӂ?I2ӊ`;2CYBTByBIIF=)FW?bDNVDNkyV+&=%VJ=ٔV:Q-Z>9XYX=ZZFyZD^ȕE^>`Q 5fd4bؒ?Q 9fd4b )bK6BYdyjC?Q Ij?bCIb:ib[:bd4ynQBɮnRAnEjh)-DNOT Ignoring new targets: 46.71 m.bh)Rh5pZh5pE ProNav: ac range: 46.706421 m, nav range: 42.631145 m, bearing: 40.433889 deg, approach rate: -0.662093 m/s, LOS rate: -0.052569 deg/s, cmd heading: 41.535043 deg, new cmd heading: 41.473566 deg. BhEOMHeadingCmd: 0.723850 target range: 46.706421 and range: 46.90 m.hM@N9?hI*hI"hI hQgQfQfQfYdYdYdajdaZde`Zb? $VBɢ H:c)  di ) ivi]@N9?]֖<]`=I]@N9?Iay P@  @ @ 0@ ԩ2Acoustic response timeout^A5=A ؟AI I O > ,ay?A2u7?2??22zٱ2> :AHRS rotation from veh to nav: [[0.732167,-0.657049,-0.179495],[0.677052,0.730841,0.086446],[0.074383,-0.184821,0.979953]]2Hm?ƿ`h? c?Y!? ?5ǿ[?i2u7?I2F[`;2CYB UByBID`zDb?AEj EjEhEh"Ej;*Ej:VEhZEhaz@az@az@az@iMb@Mb@Mb@ 9 rh?kt?T㥛 ?Y,?y 0==ƳAtA )AY¡AbDVDk2y=%9=ٔ:Q->9"?Y"?=ZFyDt(E>Q 5d4蒊?Q 9d4))z6BY-?Q E:yS?Q I?4CI ;i& ;d4yɮA2Acoustic response timeout%B*** querying acoustic contact ***i! i!jhDNOT Ignoring new targets: 46.71 m.bhRhkZhk ProNav: ac range: 46.706421 m, nav range: 42.337570 m, bearing: 40.385519 deg, approach rate: -0.670361 m/s, LOS rate: -0.111216 deg/s, cmd heading: 41.473564 deg, new cmd heading: 41.327448 deg. BhHeadingCmd: 0.721300 target range: 46.706421 and range: 46.90 m.h8?h*h"h hgfffd!d!d!jd!Zd%`?EVBɢrZ) Mi) i i8?6<*=I8?II@ @@0@B v>B B 'IB DUBB B B B ߈;B m?E)  2Acoustic response timeout^A r =A9 IA Y IY Oe >, ?A2 1?2??2ܧٱ2z= :AHRS rotation from veh to nav: [[0.732255,-0.657351,-0.178024],[0.677000,0.731008,0.085425],[0.073983,-0.183075,0.980311]]2Hn? ƿ@?kd?j޵?`?`oǿ`^?i2 1?I2"v`;2CYB7UByBIbDJVDJkyb r=%f[=ٔf:Q-f>9hYh=jZFyjDnljEn>pQ 5rd4r7?Q 9vd4rS)r6BYtyvS?Q Iv?rtCIrr;ir;rd4y~WBɮ~A|jh!%DNOT Ignoring new targets: 46.71 m.bh!Rh-Zh-= ProNav: ac range: 46.706421 m, nav range: 42.089504 m, bearing: 40.344201 deg, approach rate: -0.668364 m/s, LOS rate: -0.111980 deg/s, cmd heading: 41.327450 deg, new cmd heading: 41.202764 deg. Bh=EHeadingCmd: 0.719124 target range: 46.706421 and range: 46.90 m.hE8?hA*hA"hA hAgIfIfIfIdQdQdQjdQZdU)@_VBɢ+f)! %%i!)-r))i-Bi58?5<5Ӿ%=I58?I1!E EE)E"E:*E:VEFA4ZEBE>'Ϫ,GV?A(>2Acoustic response timeoutd?n;??땽ٱw: AHRS rotation from veh to nav: [[0.731765,-0.658456,-0.175943],[0.677621,0.730582,0.084140],[0.073138,-0.180794,0.980798]]Hj?Lƿ?`?9?+??$ǿ b?id?Ia\`;Y%CUBy%&I ))iMb@Mb@Mb@ 9i|?5?ˡE?kt?Y1?y= 0=AA )rAYAbDVD1y<%%7=ٔ%:Q-%>91Y1=5ZFy5D=:E=>Q 5e4?Q 9e4)6BY<3?Q E:y_?Q I?CI:i@: e4yɮآAjhAMDNOT Ignoring new targets: 46.71 m.bhIRhM0ZhU0] ProNav: ac range: 46.706421 m, nav range: 41.781693 m, bearing: 40.271603 deg, approach rate: -0.650164 m/s, LOS rate: -0.154472 deg/s, cmd heading: 41.202764 deg, new cmd heading: 40.983367 deg. BheԻԁHeadingCmd: 0.715295 target range: 46.706421 and range: 46.90 m.h7?h*h"h hgfffdddjdZd@mVBɢm[a)q uiq)uqqiu,i}7?5<5=I7?I@ @@@ԱD=D=E EE*E"EV:*E$:VE(N4ZEa@a@a@a@-2Acoustic response timeout ^A= $=  Gg> C] gGq A I I d9 Y ŦAO > ,\Ȗ?A2Δ?2^k??2ٱ29 RAHRS rotation from veh to nav: [[0.731304,-0.659194,-0.175091],[0.678189,0.730075,0.083963],[0.072482,-0.180148,0.980965]]2H`f?diƿ?\?~?(?ǿd?i2Δ?I2 `;0YZdUByZ:IbDfVDf:yn=%nU=ٔn:Q-n>9pYp=rZFyrDv:Ev>xQ 5~e4zp?Q 9~e4z)z6BY|y~ `?Q I~?zCIzN:iz:z e4y ]Bɮ A Ejh15DNOT Ignoring new targets: 46.71 m.bh1Rh=vJZh=vJM ProNav: ac range: 46.706421 m, nav range: 41.520142 m, bearing: 40.208798 deg, approach rate: -0.732525 m/s, LOS rate: -0.177008 deg/s, cmd heading: 40.983368 deg, new cmd heading: 40.793765 deg. BhMUHeadingCmd: 0.711986 target range: 46.706421 and range: 46.90 m.hUD6?hQ*hQ"hQ hYgYfYfYfadadadajdiZdm @额VBɢap) ⛾i)顡i|iD6?g<RC=ID6?IBIAIBUs>BQBURIBUUBBU =BQBQBULj;BUQ?EB@CB@CBBB =C+5BDAT read: Rx Time:04:00:25.7950 TRx dataTimestamp_ set to:1761537627.2290922Acoustic response timeoutN@ @!@%/@!A^AX4=II!O-N>iE=  E= E= +E9 "E= l;*E= :VE= [4ZE9 BE= ^F9 >AHRS rotation from veh to nav: [[0.730748,-0.659873,-0.174857],[0.678818,0.729499,0.083888],[0.072203,-0.179997,0.981014]]6HIb?aƿ?@X? y? {? $ ǿvd?i6?I6`;6C@Y^aUBy^8IbDjVDjynһ%rK=ٔr.6:Q-r>9tYt=vZFyvDv0 ;Ez>xQ 5~e4z%?Q 9e4z)z7BYy@`?Q I?zPCIz;iz;z%e4y ɮAjh1=DNOT Ignoring new targets: 46.71 m.bh9RhE@ZhE@U ProNav: ac range: 46.706421 m, nav range: 41.244644 m, bearing: 40.141439 deg, approach rate: -0.685215 m/s, LOS rate: -0.168652 deg/s, cmd heading: 40.793766 deg, new cmd heading: 40.590342 deg. BhU}]HeadingCmd: 0.708435 target range: 46.706421 and range: 46.90 m.h]\5?hY*hY"hY hYgYfafafadadidijdiZdm`P @额VBɢq) #i)顡i6i\5?<;R=I\5?I)@1 @1@5/@9@UfA@UgAԱDAT read: 04:00:25.7950 LVL= 32752, 32753, 31522, 32755, AGC= 70, IDX= 415, 0.41,-2.191, 2.420,-1.842,-2.257, PHS= 0.168,-1.561, 0.370, RAW= 155.5, 11.1, CAL= 155.5, 12.3, ROT= 354.5, -12.3 -Ygot valid direction response: 04:00:25.7950 LVL= 32752, 32753, 31522, 32755, AGC= 70, IDX= 415, 0.41,-2.191, 2.420,-1.842,-2.257, PHS= 0.168,-1.561, 0.370, RAW= 155.5, 11.1, CAL= 155.5, 12.3, ROT= 354.5, -12.3 ^A];6=Ae?Ae ?PDAT read: Bearing 215.5, -3.2 (Local) ~Local bearing/azimuth received: Bearing 215.5, -3.2 (Local) DAT read: Range 11 to 50 : 44.7 m (Round-trip 59.7 ms) speed 0.5 m/s RDAT read: user:39>Tx time:04:00:26.8811 R#Rx 1: Read range and direction messages.^direction in FSK: [0.972547,-0.093646,0.213030]Fpublishing direction and range infoy?6p-AzUmD?Y2B"{ )I1,>iǿp>-@aF>-@ [>)z@I[r?x9!7?[J? qp?)&FI)Ľi[E2Acoustic response timeoutEQuerying Benthos address 50 with one ping in standard two-way mode.IQ Ia Om > "T,D?A6?68??6ٱ69 >AHRS rotation from veh to nav: [[0.730021,-0.660753,-0.174571],[0.679653,0.728707,0.084013],[0.071700,-0.179979,0.981054]]6HU\?$@WXƿ? Q?@؁?Z? ǿ@d?i6?I6`;6CEV EVEV/ET"EV:*EV:VEVJ4ZETaZ@aZ@aZ@aZ@YZzUBy^HIIb4>)b9Y=ZFyDt+;E>Q 5e4>5?Q 9e4)7BYO4?Q E:ye?Q I?CIP ;i ;3e4yaBɮAEiAiE?AJiE2BRiE2BjiE1?bETE@jŲS"@RE?6p-AzUmD?ZiE)ĽbiE[jEOwZ@@$.;@P*@ZEff?e,u?x?2iEwA:iEB"iE ?*iETBiEBiE ?iAiEBiE(BiEE-? addTargetRange:: Added new target pos. range: 44.700001 m, deltaT: 3.530581 s, deltaX: -2.200001 m, approachRate: -0.623127 m/s, rangeRepo size: 4  Added new target pos. range: 44.515038 m, bearing: 39.733148 deg, lat: 36.779366 deg, lon: -121.859558 deg, deltaT: 3.530581 s, deltaX: -2.191383 m, approachRate: -0.620686 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 44.52 m.bhRhZh ProNav: ac range: 44.515038 m, nav range: 42.002834 m, bearing: 38.866525 deg, approach rate: 0.000000 m/s, LOS rate: -0.168652 deg/s, cmd heading: 40.590342 deg, new cmd heading: 40.373799 deg. Bh HeadingCmd: 0.704656 target range: 44.515038 and range: 44.70 m.h Qd4?h *h "h) h1g1f1f1f9d9d9d9jd=YF@ZdE?颍VBɢXn)  i)(顑iʹiQd4?<|b=IQd4?IeP@a @a@a@i9B]r>BYB]rIB]UBBYBYBYB];B]&?E% 2Acoustic response timeout^A 8R=I1 IA O] >a %<,?A2q?2RH@?2nٱ2J: :AHRS rotation from veh to nav: [[0.729069,-0.661736,-0.174826],[0.680702,0.727694,0.084295],[0.071439,-0.180461,0.980984]]2HT? ,`ƿO?EI?W?I?@[ǿ9d?i2q?I22 `;2CYBUUByB1IbDNVDNk1yVǽ%VY=ٔV5:Q-V>9XYX=ZZFyZDZ w;E^>`Q 5fe4b2C?Q 9fe4bt)b,7BYdyf]e?Q If?bCIbN:ibg:bAe4yhɮnܢAlzB*** querying acoustic contact ***ix ixjhDNOT Ignoring new targets: 44.52 m.bh Rh qZh q ProNav: ac range: 44.515038 m, nav range: 41.744133 m, bearing: 38.788005 deg, approach rate: -0.692683 m/s, LOS rate: -0.211543 deg/s, cmd heading: 40.373798 deg, new cmd heading: 40.136780 deg. Bh%.%HeadingCmd: 0.700519 target range: 44.515038 and range: 44.70 m.h%6U3?h)*h)"h) h)g)f)f1f1d1d1d1yjdZd-I?VBɢ^) Ѿi)?ijѹi6U3? 4<v=I6U3?IE EE)EN@ @@0@"E;*E:VEFA4ZEBED 5 2Acoustic response timeouti,z/?AF?F@?F*ٱF : VAHRS rotation from veh to nav: [[0.728282,-0.662554,-0.175007],[0.681557,0.726885,0.084370],[0.071310,-0.180723,0.980946]]FHN?3fƿ`Q?`B?H?aA?@!ǿc?iF?IFg`;FCYfUByfLIiMb@Mb@Mb@ 9d;O?kt?y&1Y4?y =`eA )YAbDVDky2=%7=ٔ9Q->9Y=ZFyD*;E>Q 5 e4}T?Q 9e4)57BY6?Q E:y/^?Q I?1CI ;i ;Pe4ygBɮA%EjhAMDNOT Ignoring new targets: 44.52 m.bhIRhU*WZhU*We ProNav: ac range: 44.515038 m, nav range: 41.432507 m, bearing: 38.704703 deg, approach rate: -0.698454 m/s, LOS rate: -0.188111 deg/s, cmd heading: 40.136780 deg, new cmd heading: 39.884995 deg. BhemHeadingCmd: 0.696124 target range: 44.515038 and range: 44.70 m.hm752?h*h"h hgfffdddjdZd?WBɢxm) ˾i)ii752?<#=I752?II)bAO@ @@0@@%=@%=E EE-E"E ;*EVEt4ZEa@a@a@a@u2Acoustic response timeout)^A9 I I O >Q HN,ҫI?A2?2s@?2͑ٱ2<: :AHRS rotation from veh to nav: [[0.728002,-0.662941,-0.174704],[0.681875,0.726608,0.084184],[0.071132,-0.180413,0.981016]]2H@K?6\ƿ?``@??5?ǿzd?i2?I2_;2CY@y@ DDbDJVDJٔV:Q-V>9TYT=ZZFyZDZ:EZ>\Q 5be4^vb?Q 9be4^)^=7BYdyfK^?Q If?^sCI^N:i^:^M]e4yhɮhhjh|DNOT Ignoring new targets: 44.52 m.bhRh.ZZh.Z ProNav: ac range: 44.515038 m, nav range: 41.180649 m, bearing: 38.636280 deg, approach rate: -0.697856 m/s, LOS rate: -0.190749 deg/s, cmd heading: 39.884996 deg, new cmd heading: 39.678472 deg. BhHeadingCmd: 0.692520 target range: 44.515038 and range: 44.70 m.hH1?h!*h!"h! h!g!f!f)f)d)d)d)jd1Zd57K?e3WBɢe )a mؾii)mziiimiuH1?u<Bq>B?CBIBUBBBBB;B?Eu>Ȋ=IH1?1I9iI2Acoustic response timeout@ @@4@^Ar=I)I9OE0>aԑbEșT4jEwX4rE0E  E E )E "E ;*E ?:VE FA4ZE BE A9xYx=zZFyzDz;E~>QQ 5]e4Ur?Q 9]e4U)UF7BYaye^?Q Ie?UCIU;iU;Ule4ymnBɮmAmEjhDNOT Ignoring new targets: 44.52 m.bhRhT^ZhT^ ProNav: ac range: 44.515038 m, nav range: 40.885307 m, bearing: 38.554574 deg, approach rate: -0.697569 m/s, LOS rate: -0.194376 deg/s, cmd heading: 39.678471 deg, new cmd heading: 39.431584 deg. BheHeadingCmd: 0.688211 target range: 44.515038 and range: 44.70 m.h.0?h*h"h hgfffdddjdZd?SWBɢe) i))~iBOi.0? v< qt=I .0?I @ @@/@2Acoustic response timeout^A6=) A I I O >Q ,k}?A2 ?2"@?2ٱ2; :AHRS rotation from veh to nav: [[0.727573,-0.663272,-0.175237],[0.682342,0.726106,0.084729],[0.071042,-0.181219,0.980873]]2H GH?9-nƿ?`C9Y=ZFyDE>Q 5e4u?Q 9e4Y)H7BY0?Q E:yWQ?Q I? CI:i:ze4ylBɮAEjhDNOT Ignoring new targets: 44.52 m.bhRh!Zh! ProNav: ac range: 44.515038 m, nav range: 40.599892 m, bearing: 38.495820 deg, approach rate: -0.682638 m/s, LOS rate: -0.141511 deg/s, cmd heading: 39.431584 deg, new cmd heading: 39.254084 deg. Bh<»%HeadingCmd: 0.685113 target range: 44.515038 and range: 44.70 m.h%c/?h!*h!"h! h!g!f)f)f)d1d1d1jd1Zd5`a@esWBɢe)a eia)m-iiimMic/?<3֗=Ic/?I)@ @@/@@@^A}H=A>A>aIyIO~>Br>B@CBIBUBBBBB;B ?E2Acoustic response timeoutԉ H,9xYx=zZFyzDzE~>Q 5 e4?Q 9 e4T)I7BY y Q?Q I ?MCI :i$:e4yrBɮ͢AE5B*** querying acoustic contact ***i1 i1jhAMDNOT Ignoring new targets: 44.52 m.bhIRhM"ZhM"] ProNav: ac range: 44.515038 m, nav range: 40.340839 m, bearing: 38.442125 deg, approach rate: -0.682016 m/s, LOS rate: -0.142272 deg/s, cmd heading: 39.254084 deg, new cmd heading: 39.091965 deg. BheGûeHeadingCmd: 0.682284 target range: 44.515038 and range: 44.70 m.he".?hi*hi"hi higififqfqdqdqdyjdyZd} Nk@颥WBɢ-): i)B顩iQi".? j<8=I".?Iq@q @q@q@qE EE.E"E ;*E:VEـ4ZEBER % BDAT read: Rx Time:04:00:29.3419 - TRx dataTimestamp_ set to:1761537630.760894= 2Acoustic response timeout,g+?Ah%ʂ?%ZY@?%Aٱ%9= 5AHRS rotation from veh to nav: [[0.728896,-0.661353,-0.176982],[0.680896,0.727228,0.086719],[0.071354,-0.183715,0.980386]]%H S?)Wƿ? tE? :3? ED?ǿ S_?i%ʂ?I%_;%CYEsUByECIiMb@Mb@Mb@ 9/$?I +? ףp= Y,?y94<Q8A A)ΘAYfAbDVDβy%%%7=ٔ-1Q-->91Y1=5ZFy5D5'E=>9Q 5Ee4=?Q 9Ee4=)=J7BYMp,?Q EM:yMNA?Q IM?=CI= ;i=X ;=e4yYɮ]AYjhyDNOT Ignoring new targets: 44.52 m.bhRh຺Zh຺ ProNav: ac range: 44.515038 m, nav range: 40.041687 m, bearing: 38.406011 deg, approach rate: -0.671673 m/s, LOS rate: -0.081690 deg/s, cmd heading: 39.091966 deg, new cmd heading: 38.982816 deg. Bh@`HeadingCmd: 0.680378 target range: 44.515038 and range: 44.70 m.hI-.?h*h"h hgfffdddjdZd@WBɢQT) i)i ڹiI-.?s<IW=II-.?I1N@ @@/@E EE-E"E;*E:VEt4ZEa@a@a@a@U2Acoustic response timeoutQ^A=I I O% >ԁ ,~˗?A%&?%??%$3ٱ%@ 5AHRS rotation from veh to nav: [[0.730186,-0.659308,-0.179277],[0.679463,0.728278,0.089109],[0.071813,-0.186878,0.979755]]%H]? ƿ *? N?϶?Vb?ǿ&Z?i%&?I%z_;%CYEkUByE>IԁBq>BBIBUBB =BBB;B?EbDVD0yq%R=ٔQ->9Y=ZFyDzE>Q 5e4%?Q 9e40)Yy@?Q I?CI:i:/e4yxBɮ AEjhDNOT Ignoring new targets: 44.52 m.bhRhvZhv- ProNav: ac range: 44.515038 m, nav range: 39.779797 m, bearing: 38.374767 deg, approach rate: -0.671448 m/s, LOS rate: -0.080634 deg/s, cmd heading: 38.982816 deg, new cmd heading: 38.888466 deg. Bh-Z]5HeadingCmd: 0.678732 target range: 44.515038 and range: 44.70 m.h5]-?h1*h9"h9 h9g9f9fAfAdAdAdAjdIZdM@ @颕WBɢD) i)}DAT read: 04:00:29.3419 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 417,-0.14, 3.029, 1.426,-2.891, 3.027, PHS= 0.104,-1.556, 0.321, RAW= 156.0, 12.7, CAL= 156.3, 14.2, ROT= 353.7, -14.2 Ygot valid direction response: 04:00:29.3419 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 417,-0.14, 3.029, 1.426,-2.891, 3.027, PHS= 0.104,-1.556, 0.321, RAW= 156.0, 12.7, CAL= 156.3, 14.2, ROT= 353.7, -14.2 PDAT read: Bearing 215.6, -4.8 (Local) ~Local bearing/azimuth received: Bearing 215.6, -4.8 (Local) DAT read: Range 11 to 50 : 42.5 m (Round-trip 56.7 ms) speed 0.7 m/s RDAT read: user:40>Tx time:04:00:30.4311 顡iO9ʹi]-?p<ԛ=I]-?IR#Rx 1: Read range and direction messages.^direction in FSK: [0.963591,-0.106381,0.245307]Fpublishing direction and range infoyu?E;/;f?Y*B )HI=i+ǿZ>@.@b>.@ }>)@I} *@m=^A E  E E *E "E :*E ą:VE (N4ZE BE <e DAT read: e 2Acoustic response timeout ,d䗻?A260?2??22ٱ2B :AHRS rotation from veh to nav: [[0.732360,-0.656599,-0.180350],[0.677080,0.730304,0.090652],[0.072188,-0.188501,0.979416]]2H`~o?@ǿ@?`^?4?z? ȿ`W?i260?I2_;2CY^hUByb=I ddbDjVDjky߻%W=ٔЁQ->9 Y = ZFy D E>Q 5%e4ē?Q 9%e4)K7BY!y%??Q I%?CI(:i:ne4y1ɮ5A1iiЗ?AJiK)BRiK)BjiB/?b` y:dD@Wcu$@Ru?E;/;f?Zii0bi}j!*G>@62D9@@C+@Zm+f?Qk?:b?2i!A:iA"i!?*io !BiBiio !iiBif/? addTargetRange:: Added new target pos. range: 42.500000 m, deltaT: 3.526135 s, deltaX: -2.200001 m, approachRate: -0.623913 m/s, rangeRepo size: 4  Added new target pos. range: 42.324028 m, bearing: 39.225309 deg, lat: 36.779366 deg, lon: -121.859550 deg, deltaT: 3.526135 s, deltaX: -2.191010 m, approachRate: -0.621363 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 42.32 m.bhRhZh ProNav: ac range: 42.324028 m, nav range: 39.991673 m, bearing: 39.182247 deg, approach rate: 0.000000 m/s, LOS rate: -0.080634 deg/s, cmd heading: 38.888464 deg, new cmd heading: 38.795797 deg. BhHeadingCmd: 0.677114 target range: 42.324028 and range: 42.50 m.h^W-?h*h"h hgfffdddjd@E@Zd@?WBɢA) !i)!i0?i ^W-? ;< .=I ^W-?I2Acoustic response timeout߻ :Uninitialize Docking Stepper. Powering downI)i1^A Y I I O >v,?AD0zD2@AE6 E6E6'E4"E6=;*E6:VE6'4ZE4a:@a:@a:@a:@ZLJ?Z >?ZٱZiD fAHRS rotation from veh to nav: [[0.734715,-0.653665,-0.181427],[0.674492,0.732477,0.092401],[0.072492,-0.190260,0.979054]]ZH@Ȃ?9ǿ p?sp??ӎ?oZȿ`hT?iZLJ?IZ_;ZCY~6UBy~I%2Acoustic response timeoutiMb@Mb@Mb@ 9'1Z?/$Q롿Y"?y\AA ߥA)AYAbD VD2yU%?=ٔ;Q->9Y=ZFy!DE>Q 5e4o֓?Q 9e4)R7BY&#?Q E:y(3?Q I?dCI~ ;i ;[e4y~BɮAEjh DNOT Ignoring new targets: 42.32 m.bh1RhZh ProNav: ac range: 42.324028 m, nav range: 39.719597 m, bearing: 39.175976 deg, approach rate: -0.642968 m/s, LOS rate: -0.014922 deg/s, cmd heading: 38.795796 deg, new cmd heading: 38.776852 deg. Bh#HeadingCmd: 0.676784 target range: 42.324028 and range: 42.50 m.hA-?h*h"h hgfffdddjdZd`3$?UXBɢUO)Q Up7iQ)];e$YYi]ieA-?e3B?CBIBUBB =BBB;B?EBYB]?CBYB]ǚ =B]ǚ =C]64ԑiI2Acoustic response timeout^AA .AI) I9 OE >Թ Z,'?A6x]?6 4=?6fٱ6UE >AHRS rotation from veh to nav: [[0.737126,-0.650783,-0.182008],[0.671813,0.734795,0.093508],[0.072886,-0.191203,0.978841]]6H`?`6 Lǿ@~?p?? ?SyȿR?i6x]?I6A_;4Y^\UByb5IbDj VDj2yr=%rY=ٔrcQ-r>9v ?Yv ?=vZFyv(Dv6Ez>xQ 5e4z哊?Q 9e4z)zY7BYy82?Q I?zCIz;iz;ze4yɮCAB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 42.32 m.bhRhJZhJ ProNav: ac range: 42.324028 m, nav range: 39.479671 m, bearing: 39.171649 deg, approach rate: -0.610050 m/s, LOS rate: -0.011070 deg/s, cmd heading: 38.776852 deg, new cmd heading: 38.763791 deg. BhHeadingCmd: 0.676556 target range: 42.324028 and range: 42.50 m.h2-?h*h"h hgfffdddjdZd?0XBɢ$)! %)5i!)%5&!!i%Dxi-2-?-K<-?=I52-?I19999ԑEu EuEu)Eq"EuT;*Eu$:VEuFA4ZEqBEuG 2Acoustic response timeout! A I I O >Y ,3?A>'L?>"畽ٱ>G FAHRS rotation from veh to nav: [[0.739908,-0.647265,-0.183258],[0.668721,0.737320,0.095771],[0.073131,-0.193410,0.978389]]>HS?euǿ)f? ?@k??`ȿN?i>'L?I>_;>CYNYUByN3IIR=)R>iUMb@Mb@Mb@QQQQ Q9UV-?~jtI +YU?yUDU94QU\A Q)UʘAQYUŸAbDmVDmy}}%}7=ٔQ->9Y=ZFy1D E>Q 5e4B?Q 9e4)l7BYn?Q E:y'?Q I?CI ;i ;e4yBɮ[AڦEjhDNOT Ignoring new targets: 42.32 m.bhRh9Zh9 ProNav: ac range: 42.324028 m, nav range: 39.205894 m, bearing: 39.183294 deg, approach rate: -0.636904 m/s, LOS rate: 0.027280 deg/s, cmd heading: 38.763793 deg, new cmd heading: 38.798972 deg. Bhƕ:HeadingCmd: 0.677170 target range: 42.324028 and range: 42.50 m.h[-?h*h"h hgfffd d d jd Zd ?=SXBɢ=a)9 =i>i9A)EG!)IIiM:6iM[-?U£ߍ@?ߍ?2Acoustic response timeoutԙ 8,xM?A6n!?6:?6~ٱ6s#I BAHRS rotation from veh to nav: [[0.742929,-0.643614,-0.183898],[0.665324,0.740188,0.097297],[0.073497,-0.194636,0.978118]]6H?`|`ǿTJ?`?n?в?ȿL?i6n!?I6_;4YJ`UByJ8IAPAPBVr>BV@CBVxIBVUBBV =BTBTBVv;BV>EbDbVDb:2yj<%jW=ٔnB}Q-n>9n"?Yr"?=rZFyr9DrrDEr>tQ 5ze4v?Q 9ze4vۨ)v}7BY|y~g&?Q I~?v#CIvU;iv;vhe4yɮMA jhIUDNOT Ignoring new targets: 42.32 m.bhQRheE :ZheE : ProNav: ac range: 42.324028 m, nav range: 38.972832 m, bearing: 39.194901 deg, approach rate: -0.607545 m/s, LOS rate: 0.030440 deg/s, cmd heading: 38.798972 deg, new cmd heading: 38.834003 deg. Bh:HeadingCmd: 0.677781 target range: 42.324028 and range: 42.50 m.h-?h*h"h hgfffdddjdZd@V @2Acoustic response timeout颍tXBɢ0t½Ա) Di)+项iRvظi-?z<{=I-?I^Au7=AyzA}hAE EE*E"E;*E:VE(N4 ZEBED9 b,]g?A2?2n9?2ٱ26J :AHRS rotation from veh to nav: [[0.746094,-0.639772,-0.184487],[0.661713,0.743244,0.098617],[0.074026,-0.195655,0.977875]]2H?yDǿ,??>?c?8 ɿ@J?i2?I2r_;2CYn\UByn5IbDvVDvy~,%G=ٔĩQ->9 Y = ZFy AD @E >Q 5%e4?Q 9%e4)7BY!y%+%?Q I%?cCI;i;e4y5Bɮ5oA5ۦEjhQ]DNOT Ignoring new targets: 42.32 m.bhYRhe#:Zhe#:u ProNav: ac range: 42.324028 m, nav range: 38.721935 m, bearing: 39.209346 deg, approach rate: -0.618083 m/s, LOS rate: 0.035814 deg/s, cmd heading: 38.834004 deg, new cmd heading: 38.877617 deg. Bhu:}HeadingCmd: 0.678542 target range: 42.324028 and range: 42.50 m.h}-?hy*hy"hy hygfffdddjdZd >@颽XBɢͽ) Mi)5.i %Ƿi-?M <i=I-?I@=@=^A=2Acoustic response timeoutA!IIIqO;>Ai E  E E ,E "E &:*E :VE g4ZE a @a @a @a @J ,9?A22Acoustic response timeout46x?68?6ٱ6K BAHRS rotation from veh to nav: [[0.749005,-0.636095,-0.185403],[0.658347,0.746027,0.100112],[0.074635,-0.197044,0.977550]]6H`?ZJǿ`.?`t??@I?8ɿ@H?i6x?I6u_;6CYJcUByJ:I LLPRAiMb@Mb@Mb@ 9Q?X9v~jt?Y(?y}D<³AA vA)חAYAbD5VD5k1yE<%EF=ٔMQ-M>9IYQ=UZFyUJDU0EU>Q 5f4*?Q 9f4)7BY?Q E:y ?Q I?CIv:i':f4yɮ`Ajh9EDNOT Ignoring new targets: 42.32 m.bhARhEs:ZhEs:} ProNav: ac range: 42.324028 m, nav range: 38.463268 m, bearing: 39.232210 deg, approach rate: -0.596996 m/s, LOS rate: 0.053125 deg/s, cmd heading: 38.877618 deg, new cmd heading: 38.946672 deg. Bh};HeadingCmd: 0.679748 target range: 42.324028 and range: 42.50 m.h.?h*h"h hgfffdddjdZd@XBɢqɽ) Ti ) t?1  i5 ~8i5.?=<=yW=I=.?I9ԩBBBrIBUBBBBBL;B>E^APz=A>A>%BDAT read: Rx Time:04:00:32.8889 -TRx dataTimestamp_ set to:1761537634.28582252Acoustic response timeout AA II IY Om >t&,?A6K>6t|7?6 ٱ6WK >AHRS rotation from veh to nav: [[0.751818,-0.632757,-0.185443],[0.655075,0.748824,0.100697],[0.075147,-0.197185,0.977482]]6H??ǿ_?`]? Jǹ?I6 _;6CYFmUByF@IbDR VDR2yZS<%ZT=ٔZꮺQ-Z>9\Y\=^ZFy^RDb8Eb>dQ 5jf4f:?Q 9jf4fl)f7BYhyj?Q In?fCIfs:ifj:lff4yrIBɮvMAtB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 42.32 m.bhRh:Zh:- ProNav: ac range: 42.324028 m, nav range: 38.236519 m, bearing: 39.253984 deg, approach rate: -0.619810 m/s, LOS rate: 0.059871 deg/s, cmd heading: 38.946671 deg, new cmd heading: 39.012380 deg. Bh-[$;5HeadingCmd: 0.680894 target range: 42.324028 and range: 42.50 m.h5O.?h1*h1"h1 h1g9f9fAfAdAdAdIjdIZdM@y @uXBɢu(۽)y }Yiy)}3yiW9iO.?W<`E=IO.?I^ANd=bE= [4jE=ž]4rE=$Z0E EE-E"El;*Eh:VEt4ZEBE^F1a  DAT read: 04:00:32.8889 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 417, 0.18, 2.667, 1.025, 2.966, 2.632, PHS= 0.137,-1.562, 0.289, RAW= 154.3, 12.7, CAL= 154.4, 14.2, ROT= 355.6, -14.2  Ygot valid direction response: 04:00:32.8889 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 417, 0.18, 2.667, 1.025, 2.966, 2.632, PHS= 0.137,-1.562, 0.289, RAW= 154.3, 12.7, CAL= 154.4, 14.2, ROT= 355.6, -14.2  PDAT read: Bearing 213.9, -2.8 (Local)  ~Local bearing/azimuth received: Bearing 213.9, -2.8 (Local) 5 DAT read: Range 11 to 50 : 40.2 m (Round-trip 53.7 ms) speed 0.3 m/s U RDAT read: user:41>Tx time:04:00:33.9811 ,,?AZU>Zy6?Z]֛ٱZM rAHRS rotation from veh to nav: [[0.754271,-0.629522,-0.186488],[0.652148,0.751228,0.101785],[0.076019,-0.198392,0.977170]]ZH"? %@ǿd? ??u?@dɿD?iZU>IZ&&`;ZCYzUByzLI1UR#Rx 1: Read range and direction messages.]^direction in FSK: [0.966588,-0.074375,0.245307]eFpublishing direction and range infoyQUdhIJ?<; /;f?YU BQQQQ Q)UGIUI >iUǿU>UZ,@QUiw,@ Q)U@IQQQU? %k?l,? U?)UCcIUiFiQQQ2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.iMb@Mb@Mb@ 9333333?Zd;OL7A`?Y?yj<+=fA )(AY3AbD VD :2y+=%)=ٔ%Q-%>9AYa=eZFye[DEgEE>IQ 5Uf4MN?Q 9Uf4M)M7BYUH?Q EU:y]%?Q I]?M/CIM':iMQ:aE EE+E"E;*E|:VE [4ZEa@a@a@a@M'f4uDAT read: }2Acoustic response timeoutyɮ#AԉiQiU5~?AJiU" BRiU" BjiU/?bUYC@ }S#@RUdhIJ?<; /;f?ZiUiFbiQjU:=@7@!ҊA*@ZUT]?.?jE?2iUA:iUA"iUĔ?*iUaH!BiUBiQiUaH!iUBiUBiUk/? addTargetRange:: Added new target pos. range: 40.200001 m, deltaT: 3.528838 s, deltaX: -2.299999 m, approachRate: -0.651772 m/s, rangeRepo size: 4  Added new target pos. range: 40.033646 m, bearing: 39.386324 deg, lat: 36.779366 deg, lon: -121.859550 deg, deltaT: 3.528838 s, deltaX: -2.290382 m, approachRate: -0.649047 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 40.03 m.bhRh Zh! 5  ProNav: ac range: 40.033646 m, nav range: 37.920963 m, bearing: 39.260667 deg, approach rate: 0.000000 m/s, LOS rate: 0.059871 deg/s, cmd heading: 39.012381 deg, new cmd heading: 39.129300 deg. Bh1 = HeadingCmd: 0.682935 target range: 40.033646 and range: 40.20 m.h= .?h9 *h9 "h9  h9 g9 fA fA fA dI dI dI jdM D@ZdM ? YBɢ 彽) +bi ) a8 i M|9i .? < {3=I .?I @) @- gAԹ B B B xIB UBB B B B /;B >E i!I%A-2Acoustic response timeout^A&V=Au.AIyIO ?S5,ט?A8>J>>|5?>\Gٱ>dL FAHRS rotation from veh to nav: [[0.756826,-0.626491,-0.186342],[0.649098,0.753867,0.101767],[0.076721,-0.197974,0.977200]]>H7?`7 @ ǿi? ?g ?`?7Wɿ`9E?i>J>I>E6`;>CYRUByRYIIV=)V4<bDZVDZ!yb=.=%b/=ٔfsźQ-f>9f ?Yf ?=fZFyjeDjmEj>lQ 5rf4nA`?Q 9rf4nn)n8BYpyv$?Q Iv?nqCIn:inN:n6f4yzNBɮz AzܦEjhDNOT Ignoring new targets: 40.03 m.bhRh%v:Zh%v:5 ProNav: ac range: 40.033646 m, nav range: 37.663826 m, bearing: 39.276702 deg, approach rate: -0.859537 m/s, LOS rate: 0.053967 deg/s, cmd heading: 39.129300 deg, new cmd heading: 39.177734 deg. Bh5&;=HeadingCmd: 0.683780 target range: 40.033646 and range: 40.20 m.h=< /?h9*h9"h9 h9g9fAfAfAdAdIdIjdIZdM@?u!YBɢ} 0)}6< }biy)}:yi4e9i< /?2<T#=I< /?I^AmlT=ԩE EE,E"E;*E:VEg4ZEBE;C=2Acoustic response timeout N;,7?A>M>>64?>ٱ>sK JAHRS rotation from veh to nav: [[0.759050,-0.623984,-0.185704],[0.646420,0.756253,0.101106],[0.077351,-0.196787,0.977390]]>H$J?@$ǿz?83?? Aͳ?Q0ɿF?i>M>I>i&`;N2Acoustic response timeout>CYVUByVhI|bD}VD}y\=%==ٔ伺Q->9Y =ZFynDUE]>Q 5f4r?Q 9f4 )G8BYy$?Q I?CIi9iGM/?N<_=IGM/?I@]=@]=IE EE'E"E&:*E:VE'4ZEa@a@a@a@M8>M=M2Acoustic response timeout^Ae 3=y A ؟AI I O >B,F ?A2>23?20ٱ2I :AHRS rotation from veh to nav: [[0.760885,-0.621936,-0.185066],[0.644165,0.758320,0.100011],[0.078139,-0.195310,0.977624]]2H+Y?;ǿ?(D?P??ȿH?i2>I2_;0YBUByBqIi Mb@Mb@Mb@     9 Gz?V-I +?Y p?y  94= A  )  Y \AbD%VD%y5}=%5Q=ٔ=Q-=>9="?YE"?=EZFyEuDEEE>IQQ 5]f4Uq?Q 9]f4U)Uk8BY]?Q Ee:ye+?Q Ie?UCIUQ:iU:USf4ymMBɮmAmӦEBBBIBUBBBBB%;B>Ejhy}DNOT Ignoring new targets: 40.03 m.bhyRhM9ZhM9 ProNav: ac range: 40.033646 m, nav range: 37.167934 m, bearing: 39.300944 deg, approach rate: -0.579781 m/s, LOS rate: 0.014240 deg/s, cmd heading: 39.234598 deg, new cmd heading: 39.250967 deg. Bh]:HeadingCmd: 0.685059 target range: 40.033646 and range: 40.20 m.h`/?h*h"h hgfffddd jd Zd ?ujYBɢuD7)y }Mkiy2Acoustic response timeout)3A顩i:i`/?<1 =I`/?Iy^A!=AIIOh>ԡE  E E .E "E V:*E :VE ـ4ZE BE 923?2aٱ2H :AHRS rotation from veh to nav: [[0.762828,-0.619713,-0.184525],[0.641792,0.760410,0.099394],[0.078719,-0.194247,0.977789]]2Hi?@ǿ?GU?q?`&?ȿ@ J?i2o>I2M_;2CYfUByfI lnp<bDnVDn0yv>=%vP=ٔzºQ-z>9xYx=~ZFy~}D~/E>Q 5 f4G?Q 9 f4)8BYy*?Q I?-CI :i:^af4yQBɮ%rA%ԦE=B*** querying acoustic contact ***i9 i9jhIMDNOT Ignoring new targets: 40.03 m.bhIRhU9ZhU9e ProNav: ac range: 40.033646 m, nav range: 36.928841 m, bearing: 39.308028 deg, approach rate: -0.658459 m/s, LOS rate: 0.019637 deg/s, cmd heading: 39.250966 deg, new cmd heading: 39.272358 deg. BheW:mHeadingCmd: 0.685432 target range: 40.033646 and range: 40.20 m.hmxx/?hi*hi"hi higqfqfqfydydydyjdZd@|?颭YBɢ() mgi)wC顱ԹiZ):ixx/?<$O,??A2d>22?2Тٱ2F :AHRS rotation from veh to nav: [[0.764095,-0.618435,-0.183566],[0.640196,0.761966,0.097755],[0.079416,-0.192212,0.978135]]2Hxs? 8ǿ }|? b?@t?T?`iȿ L?i2d>I2q_;2CYBUByBIi Mb@Mb@Mb@ E= E=E=,E9"E=;*E=:VE=g4ZE9aE@aE@aE@aE@    9 +?~jthZd;O?Y ?y D j<=   $A) ̕A Y 3AbDVDfy,=%>=ٔպQ->9Y=ZFyDE>2Acoustic response timeoutQ 5f4R?Q 9f4)8BY- ?Q E:y4?Q I?qCIHAC G%liAAu9}liAYeAX<@-fA@-hA^A<AABq>BBIBVBBBBB(;B>EBB@CBBǙ =BǙ =CǨ4IAM.AIaIyO> 2Acoustic response timeoutq V,DLY?A2>22?2vٱ2E :AHRS rotation from veh to nav: [[0.765126,-0.617309,-0.183064],[0.638925,0.763111,0.097141],[0.079731,-0.191289,0.978290]]2H{?nǿr? gk?C޸?Hi?+|ȿ&N?i2>I21}_;2CYfVByfIbDnVDnkyvF=%vV=ٔz\YQ-z>9z ?Yz ?=zZFyzD~ጻE~>Q 5 f4x?Q 9 f4 )8BYy4?Q I?CI:i:}f4yUBɮAզEjhAMDNOT Ignoring new targets: 40.03 m.bhIRhMTZhMT] ProNav: ac range: 40.033646 m, nav range: 36.426846 m, bearing: 39.292141 deg, approach rate: -0.642771 m/s, LOS rate: -0.019707 deg/s, cmd heading: 39.246076 deg, new cmd heading: 39.224367 deg. BhedXeHeadingCmd: 0.684594 target range: 40.033646 and range: 40.20 m.heA/?hi*hi"hi higififqfqdqdqdyjdyZd}|<@颥YBɢ) zki)oI顩ib:iA/?U<A > I I O >X1\,#s?Aɰ;6BDAT read: Rx Time:04:00:36.4362 6TRx dataTimestamp_ set to:1761537637.81216562Acoustic response timeout:>:x1?:ٱ:QGC VAHRS rotation from veh to nav: [[0.765744,-0.616829,-0.182090],[0.638083,0.764085,0.094997],[0.080536,-0.188932,0.978682]]:H`? @Nǿ`,k?bs?Q?`?.ȿ ]Q?i:>I:__;:CY^DVBy^IbDfVDfJyn=%nK=ٔrQ-r>9pYt=vZFyvDv*Ev>xQ 5mf4zl?Q 9mf4z{)z 9BYy<4?Q I?zCIz̽B ?CB IB aVBB B B B +;B >EIIaOm?d,u?Ai,I.AFDAT read: 04:00:36.4362 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 405,-0.45, 1.484,-0.193, 1.658, 1.479, PHS= 0.107,-1.627, 0.135, RAW= 150.8, 15.6, CAL= 151.2, 17.5, ROT= 358.8, -17.5 NYgot valid direction response: 04:00:36.4362 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 405,-0.45, 1.484,-0.193, 1.658, 1.479, PHS= 0.107,-1.627, 0.135, RAW= 150.8, 15.6, CAL= 151.2, 17.5, ROT= 358.8, -17.5 RPDAT read: Bearing 216.0, -0.0 (Local) R~Local bearing/azimuth received: Bearing 216.0, -0.0 (Local) VDAT read: Range 11 to 50 : 38.1 m (Round-trip 50.9 ms) speed 0.5 m/s ZRDAT read: user:42>Tx time:04:00:37.5311 ^R#Rx 1: Read range and direction messages.b^direction in FSK: [0.953508,-0.019973,0.300706]bFpublishing direction and range infoy,.Q(^"?# Rs->?Y.fB,,,, ,).EI."=i.Aп.q= >.q(@.'g>.[(@ .a>).Hd@I.a,,.1,x?o\%?KW(C? . ?).ԋI.i.a,,r2Acoustic response timeoutrQuerying Benthos address 50 with one ping in standard two-way mode.>i1?Lٱh@ AHRS rotation from veh to nav: [[0.765853,-0.616907,-0.181369],[0.637836,0.764568,0.092744],[0.081455,-0.186712,0.979032]]H@ށ? 7ǿ &i?Ww? ?=ڴ? +ǿ ;T?i>IB_;YrVByI)iMb@Mb@Mb@ 9 r?S㥛?I +?Y#?y/<94=fA vA)(AYbD VD 1y=%=ٔźQ-E>9AYA=MZFyMDMݹEM>QQ 5ef4Uٔ?Q 9ef4Ut)UA9BYm$?Q Em:ym??Q Im?UQCIUD;iUC;UKf4yuYBɮuAu֦Ei,i.74?AJi.BRi.Bji.j;?b.mo}B@NLH@ &@R.Q(^"?# Rs->?Zi.bi.aj.{:@XB7@iih,@Z.!/V?:?& ?2i.oA:i.A"i.G_q?*i.3D Bi.Bi.!?i.o !i.Bi.Bi.+/? addTargetRange:: Added new target pos. range: 38.099998 m, deltaT: 3.526734 s, deltaX: -2.100002 m, approachRate: -0.595452 m/s, rangeRepo size: 4  Added new target pos. range: 37.942226 m, bearing: 42.059466 deg, lat: 36.779365 deg, lon: -121.859550 deg, deltaT: 3.526734 s, deltaX: -2.091419 m, approachRate: -0.593019 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 37.94 m.bhRh=Zh9M ProNav: ac range: 37.942226 m, nav range: 35.757668 m, bearing: 39.304443 deg, approach rate: 0.000000 m/s, LOS rate: -0.015344 deg/s, cmd heading: 39.202663 deg, new cmd heading: 39.177131 deg. BhIUHeadingCmd: 0.683770 target range: 37.942226 and range: 38.10 m.hU /?hQ*hQ"hy hygyfyffdddjd C@Zd ?$ZBɢHؽ) nli)Qip:i /? Z< F}j,H?A,J>>J1?J⩽ٱJs> RAHRS rotation from veh to nav: [[0.765684,-0.617249,-0.180920],[0.637858,0.764882,0.089956],[0.082857,-0.184279,0.979375]]JH{?@d(ǿUi? y?_? 6? xǿ W?iJ>>IJ?_;JCYZVByZIbD-VD-yEt%=%E=ٔMIQ-M?9QYY=]ZFy]De9Ee?qQ 5f4u唊?Q 9f4uKq)u^9BYyQ I?uCIuX;iuI;uf4yɮfAqIAggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLIEntering USBL mode with 120.000000 count pings at 38.099998 m (mode 2.000000 count ).IIB*** querying acoustic contact ***i ijh DNOT Ignoring new targets: 37.94 m.bh Rh ɓZh ɓ ProNav: ac range: 37.942226 m, nav range: 35.561928 m, bearing: 39.284472 deg, approach rate: -0.629700 m/s, LOS rate: -0.064602 deg/s, cmd heading: 39.177132 deg, new cmd heading: 39.116888 deg. Bh%W1%HeadingCmd: 0.682719 target range: 37.942226 and range: 38.10 m.h%.?h)*h)"h) h)g)f)f1f1d1d9d9jd9Zd= ??ZBɢ ) oi) Ti:i.?Ly<% Ee  Ee Ee ,Ea "Ee :*Ee :VEe g4ZEa am @au @au @au @ %= %=% 2Acoustic response timeoutq,;Ǚ?A\YVByI)-AiMb@Mb@Mb@ 9(\? ףp= ? rh?Y'?yQ8=C = A ƤA)̕AYQAbDVDk1y o=% >=ٔ Q- >9Y=ZFyDE>!Q 5-f4%m?Q 9-f4%0l)%9BY-L(?Q E5:y5E?Q I5?%CI%;i%L ;%f4y=XBɮ=#A=ͦEiU^@I]1J]jhamDNOT Ignoring new targets: 37.94 m.bhiRhmغZhmغ ProNav: ac range: 37.942226 m, nav range: 35.284798 m, bearing: 39.245491 deg, approach rate: -0.666338 m/s, LOS rate: -0.094461 deg/s, cmd heading: 39.116890 deg, new cmd heading: 38.999031 deg. BhHeadingCmd: 0.680661 target range: 37.942226 and range: 38.10 m.h?.?h*h"h hgfffdddjdZd1.?aZBɢ)[) {pi)<Wiz:i?.?d<=I?.?IByByB}IB}VBB} =ByByB}/;B}>E2Acoustic response timeout^A5G<IIO>A w,?A2V>2:1?2itٱ2&; :AHRS rotation from veh to nav: [[0.765324,-0.617442,-0.181779],[0.637866,0.765336,0.085950],[0.086053,-0.181730,0.979576]]2H`}?@Dǿfi?}??`?BǿX?i2V>I2^;2CYBVByBIbDNVDNyRz=%Vd=ٔV`Q-V>9XYX=ZZFyZD^<-:Eb>pQ 5vf4r?Q 9vf4rg)r9BYxyzE?Q Iz?rCIr-:ir:rf4bEg4jEb4rE10E% E%E%-E!"E%;*E%:VE%t4ZE!BE%;Ci߉ I߉  2Acoustic response timeout ~,?AY-VBy5IԉiMb@Mb@Mb@ 9q= ףp?X9v?I +?Y+?y}=9<A vA)Y(AbDVDk1y<%6=ٔQ->9Y=ZFyDE> Q 5f4 O?Q 9f4 Hb) 9BYX,?Q E:yJ?Q I? TCI j:i : .f4y%\Bɮ%ޟA-ΦEj9qJEECompleted lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLqIEEAggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLjhQUDNOT Ignoring new targets: 37.94 m.bhQRh]Zh]m ProNav: ac range: 37.942226 m, nav range: 34.753487 m, bearing: 39.159161 deg, approach rate: -0.705618 m/s, LOS rate: -0.126724 deg/s, cmd heading: 38.896998 deg, new cmd heading: 38.738019 deg. BhmuHeadingCmd: 0.676106 target range: 37.942226 and range: 38.10 m.huH-?hq*hq"hq hygyfyfyfdddjdZd ?颵ZBɢ) Jwi)`k]项ipC:iH-?{<#H=IH-?IE% E%E%0E!"E%V:*E%:VE%4ZE!a-@a-@a5@a5@Թ2Acoustic response timeout^AMNw =IA IQ Oe >Ba Ba Be :IBe WBBa Ba Ba Be &;Be >E $,ͭ?Aɰ"2Acoustic response timeout:)>:k2?:"}ٱ:|9 bAHRS rotation from veh to nav: [[0.763730,-0.619018,-0.183122],[0.639305,0.764606,0.081649],[0.089474,-0.179429,0.979694]]:Hyp? pǿ0u? w?? ?@ƿY?i:)>I: _;:CYVBy4IbDVDky%E=%%Y=ٔ-Q-->9)Y)=-ZFy5D5;E5>9Q 5Ef4=,%?Q 9Ef4=])=9BYIyMJK?Q IM?=CI=:i=:=Qf4yQɮU~AQjhyDNOT Ignoring new targets: 37.94 m.bhRh Zh  ProNav: ac range: 37.942226 m, nav range: 34.503384 m, bearing: 39.113017 deg, approach rate: -0.666488 m/s, LOS rate: -0.123858 deg/s, cmd heading: 38.738019 deg, new cmd heading: 38.598584 deg. BhHeadingCmd: 0.673672 target range: 37.942226 and range: 38.10 m.hu,?h*h"h hgfffdddjdZd z@ZBɢZ ) si)wW`iy:iu,?e<t#=Iu,?I!^A=d=E= E=E=+E9"E=;*E=Z:VE= [4ZE9BE9aM2E9aMJE=&;aM:E=&;aM2Acoustic response timeoutII)O5>Yy ,.?A^c>^B2?^ٱ^k7 nAHRS rotation from veh to nav: [[0.762443,-0.620258,-0.184286],[0.640410,0.764074,0.077885],[0.092499,-0.177402,0.979782]]^H`e?&@ǿ=~? Ks?J?@?ƿ_Z?i^c>I^?L`;^CYzWBy~:IbDeVDe:2yu9<%uF=ٔuQ-u>9yYy=}ZFy}D;E>Q 5f45?Q 9f4[X)9BYyK?Q I?CIe ;i ;f4y`Bɮ{AB*** querying acoustic contact ***i ixjhDNOT Ignoring new targets: 37.94 m.bhRhZh ProNav: ac range: 37.942226 m, nav range: 34.228230 m, bearing: 39.060682 deg, approach rate: -0.664192 m/s, LOS rate: -0.127346 deg/s, cmd heading: 38.598584 deg, new cmd heading: 38.440318 deg. BhʮHeadingCmd: 0.670910 target range: 37.942226 and range: 38.10 m.h+?h*h"h hgfffdddjdZdS@-ZBɢ5})1 58zi1)=c99i=:iE+?EƩԩEI  EM EM (EI "EI *EM :VEM c44ZEI aU @aU @aU @aU @ 2Acoustic response timeout ,LH?AB>B.3?B͊ٱBn7 NAHRS rotation from veh to nav: [[0.761480,-0.620989,-0.185797],[0.641283,0.763484,0.076475],[0.094362,-0.177383,0.979608]]BH` ^? %.ǿd?un??"(?xƿ@X?iB>IB`;BCYVWByVBIi5Mb@Mb@Mb@1111 195m?x&?y&1?Y5.?y57=5`e<11 5ƤA)5pA1Y5AbDMVDMy]<%]K=ٔ]Q-]>9aYa=eZFyeDm9R;Em>qQ 5}g4uE?Q 9}g4u*S)u:BY}x/?Q E}:y}L?Q I?u!CIu*:iu:ug4y ɮ aA jhQUDNOT Ignoring new targets: 37.94 m.bhQRh]Zh] ProNav: ac range: 37.942226 m, nav range: 33.955074 m, bearing: 39.005736 deg, approach rate: -0.645963 m/s, LOS rate: -0.130984 deg/s, cmd heading: 38.440318 deg, new cmd heading: 38.274154 deg. BhɳHeadingCmd: 0.668010 target range: 37.942226 and range: 38.10 m.h+?h*h"h hgffԡfdddjdZd,D@B B B eIB JWBB  =B B B B ][Bɢ]w)Y ]ia)ejgaaieg:i+?F<?=I+?IUBDAT read: Rx Time:04:00:39.9833 UTRx dataTimestamp_ set to:1761537641.340130]2Acoustic response timeout^AB4=AzAIA IQ O] >) [-,+Lb?AF>FL3?FO~ŽٱF6 NAHRS rotation from veh to nav: [[0.761040,-0.621198,-0.186900],[0.641520,0.763460,0.074707],[0.096283,-0.176756,0.979534]]FHpZ?YǿT?Cn? ??ƿWX?iF>IF`;DYV/WByVTIbD`VD`yj}=%jT=ٔnQ-n>9lYl=nZFynDrԞ:Er>tQ 5zg4vU?Q 9zg4E~ E~E~+E|"E~:*E~ą:VE~ [4ZE|BE~<iu ܿu V->u 8(@u %>u (@ u V>)u -@Iu Vq u  9>{?7@^?I#gf? u ?)u !Iu iu V 2Acoustic response timeout Y,/|?AX%.8>%r3?%ɽٱ%7 UAHRS rotation from veh to nav: [[0.760519,-0.621186,-0.189045],[0.641836,0.763255,0.074082],[0.098271,-0.177677,0.979170]]%H ,V?`2ȿ?l??N(?ƿ@\U?i%.8>I%ϥ`;%CYe9WByeZIi5Mb@Mb@Mb@1111 195Cl?Dl?I +?Y5/?y5O=594<5A1 5vA)5“A1Y5pAbDUVDU0y]<%]3=ٔeݏQ-e>9iYi=mZFymDm:Eu>qQ 5}g4uag?Q 9g4uHH)uM:BY0?Q E:yM?Q I?uCIu;iu* ;u>g4yɮ AjhDNOT Ignoring new targets: 37.94 m.bhRhQ(ZhQ( ProNav: ac range: 37.942226 m, nav range: 33.383682 m, bearing: 38.886358 deg, approach rate: -0.687557 m/s, LOS rate: -0.147154 deg/s, cmd heading: 38.112339 deg, new cmd heading: 37.912941 deg. BhɻHeadingCmd: 0.661706 target range: 37.942226 and range: 38.10 m.he)?h*h"h hgfffdddjdZd @[[Bɢ) %Fi!)7m顡i`;ie)?;<#X=Ie)?I@fA@gADzDAAE  E E E "E &:*E :VE ZE a@a@a@a@DAT read: Range 11 to 50 : 36.0 m (Round-trip 48.1 ms) speed 0.8 m/s RDAT read: user:43>Tx time:04:00:41.0811 X#Rx 2: Read range message, but no direction.yYBchecking for new query: numPingsReceived=2, elapsed TxPingTime=41.040936Gb9Y'A^A-==A-?A-?B B B IB WBB B B B 0;B >EB?CB?CBBBCɣ64A9 9 IA IY Oe >@,?Achecking for new query: numPingsReceived=2, elapsed TxPingTime=41.289719Bgt>B3?B/ͽٱB}8 JAHRS rotation from veh to nav: [[0.760091,-0.621172,-0.190807],[0.642073,0.763123,0.073391],[0.100021,-0.178296,0.978880]]BH@R?]lȿ܋?@k?ɲ??`dƿR?iBgt>IB,`;BCYjOWBynhIbDvVDvy~v=%~d=ٔQ->9Y=ZFy D :E >Q 5%g4u?Q 9%g4C)e:BY!y%M?Q I%?CI):i :*g4y5cBɮ5A1e addTargetRange:: Added new target pos. range: 36.000000 m, deltaT: 3.779931 s, deltaX: -2.099998 m, approachRate: -0.555565 m/s, rangeRepo size: 4 jhaeDNOT Ignoring new targets: 37.94 m.bhaRhm$*Zhm$* ProNav: ac range: 37.942226 m, nav range: 33.138851 m, bearing: 38.833359 deg, approach rate: -0.682127 m/s, LOS rate: -0.148751 deg/s, cmd heading: 37.912942 deg, new cmd heading: 37.752773 deg. Bh,̻HeadingCmd: 0.658910 target range: 37.942226 and range: 36.00 m.hV(?h*h"h hgfffdddjdB@Zd`F?{[Bɢ7 ) i)qiz ;iV(?ȶ<kc=IV(?I^AXR=AA؟AIIO'>E EE,E"E:*E~:VEg4ZEBE3N 3?N!ѽٱN: VAHRS rotation from veh to nav: [[0.760018,-0.620439,-0.193463],[0.641858,0.763273,0.073703],[0.101937,-0.180191,0.978335]]NHR?hȿ?@l?,޲??@ǿN?iNd>IN_;NCY-=WBy-]I=@A=AAbD=VD=0yM8/%ME=ٔUoQ-U>9U"?Y]"?=]ZFy]D]˔E]>aQ 5mg4es?Q 9mg4e;>q)e:BYqy}M?Q I}?e=CIe+;ie,;e>9g4yɮAB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 37.94 m.bhRhh,Zhh, ProNav: ac range: 37.942226 m, nav range: 32.856930 m, bearing: 38.771398 deg, approach rate: -0.679991 m/s, LOS rate: -0.150731 deg/s, cmd heading: 37.752771 deg, new cmd heading: 37.565294 deg. BhλHeadingCmd: 0.655638 target range: 37.942226 and range: 36.00 m.h'?h*h"h hgfffdddjdZd ?[Bɢ ) ti)ti~;i%'?%T<%cm=I%'?I)5checking for new query: numPingsReceived=2, elapsed TxPingTime=41.793224ԡ^A=KY=AIIO>E%  E% E% /E! "E% ;*E% :VE% J4ZE! a- @a- @a- @a- @ checking for new query: numPingsReceived=2, elapsed TxPingTime=42.045139 N,ڭɚ?A2'>2}j3?2&gսٱ2[< :AHRS rotation from veh to nav: [[0.760153,-0.619415,-0.196195],[0.641365,0.763662,0.073964],[0.104012,-0.182056,0.977771]]2H@,S?? ɿ?@o?`M??Mǿ`I?i2'>I2Pm_;2CYnFWByncIieMb@Mb@Mb@aaaa a9eʡE?Mb?Ye/?ye=eaeA a)eAaYeAbDVDy<%F=ٔQ->9Y=ZFyDzE>Q 5g4*?Q 9g48):BY`0?Q E:yJ?Q I?CI ;i ;Gg4ygBɮAǦEjhDNOT Ignoring new targets: 37.94 m.bhRh=!Zh=!  ProNav: ac range: 37.942226 m, nav range: 32.576275 m, bearing: 38.713903 deg, approach rate: -0.682226 m/s, LOS rate: -0.140966 deg/s, cmd heading: 37.565293 deg, new cmd heading: 37.391321 deg. Bh | HeadingCmd: 0.652602 target range: 37.942226 and range: 36.00 m.h '?h*h"h hgfffdddjdZd_?颍[Bɢ. ) Xi)x顑i;i'? <u=I'?IBABBBIBWBBBBBG;B>E@=@=Echecking for new query: numPingsReceived=2, elapsed TxPingTime=42.297077^A Xh=9I I O- >Y kx,㚻?A2>2*3?2ؽٱ2= :AHRS rotation from veh to nav: [[0.760650,-0.618202,-0.198089],[0.640516,0.764362,0.074099],[0.105603,-0.183242,0.977379]]2H=W?NZɿ? u? '??ztǿF?i2>I2]+_;2CYBdWByBuIbDJVDJ1yR=%R[=ٔV:Q-V>9TYT=VZFyZ DZ +EZ>\Q 5bg4^X?Q 9bg4^$4)^:BYdyfJ?Q If?^CI^:i^:^Tg4yj}Bɮj.AhEr ErEr,Ep"Er&:*Er:VErg4ZEpBEre;ߝ?checking for new query: numPingsReceived=2, elapsed TxPingTime=42.549355DNOT Ignoring new targets: 37.94 m.bhRh!Zh! ProNav: ac range: 37.942226 m, nav range: 32.321629 m, bearing: 38.661317 deg, approach rate: -0.676337 m/s, LOS rate: -0.140770 deg/s, cmd heading: 37.391321 deg, new cmd heading: 37.232319 deg. Bh7HeadingCmd: 0.649827 target range: 37.942226 and range: 36.00 m.h[&?h*h"h hgfffdddjdZd b?1M[BɢMΩ)I MАiI)UR|qqiuRg!;i}[&?}ʥ<}>{=I}[&?Ii^A512q=ԱI I) O= >U checking for new query: numPingsReceived=2, elapsed TxPingTime=42.801205 n,qr?AzE>z}2?z%ܽٱz%@ AHRS rotation from veh to nav: [[0.760970,-0.616892,-0.200917],[0.639812,0.764884,0.074792],[0.107540,-0.185464,0.976749]]zHY? @ɿVy? y? %?༇? FǿA?izE>Iz"#_;zCYYWBynIiMb@Mb@Mb@ 9S?~jt?{GztY/?yD=ףAA  A)bAY 4<bDVDJyb%6=ٔCQ->9Y=ZFyD ںE >Q 5g4󸕊?Q 9g4.):BY/?Q E:yOD?Q I%? CI:i:_dg4y-|Bɮ->A-EjhQUDNOT Ignoring new targets: 37.94 m.bhQRh]Zh]m ProNav: ac range: 37.942226 m, nav range: 32.016308 m, bearing: 38.610864 deg, approach rate: -0.685583 m/s, LOS rate: -0.114368 deg/s, cmd heading: 37.232317 deg, new cmd heading: 37.079518 deg. BhmuHeadingCmd: 0.647160 target range: 37.942226 and range: 36.00 m.huB%?hq*hq"hy hygyfyffdddjdZd f(?ԩ颽\Bɢڠ) 햿i)"0i2);iB%?Z<4=IB%?IDzDE EEE"E ;*E:VEZEa@a@a@a@checking for new query: numPingsReceived=2, elapsed TxPingTime=43.053219^A|=IQIaOuz> B B B IB WBB B B B K;B >E1 U checking for new query: numPingsReceived=2, elapsed TxPingTime=43.305058Q,V?AF>F2?FٱFA RAHRS rotation from veh to nav: [[0.761511,-0.615617,-0.202774],[0.638848,0.765722,0.074457],[0.109431,-0.186241,0.976391]]FH`K^?"|ɿpq?ʀ?`??ǿ>?iF>IF.^;FCYjiWByjxIbDvVDv:y~S+=%~\=ٔ~Q-~>9Y=ZFyD {@E >Q 5g4aȕ?Q 9g4)):BYyD?Q I%?V CI :i:^qg4y)ɮ-A)jhQUDNOT Ignoring new targets: 37.94 m.bhQRh]TZh]Tm ProNav: ac range: 37.942226 m, nav range: 31.763432 m, bearing: 38.568846 deg, approach rate: -0.680314 m/s, LOS rate: -0.113942 deg/s, cmd heading: 37.079519 deg, new cmd heading: 36.952461 deg. BhmeuHeadingCmd: 0.644942 target range: 37.942226 and range: 36.00 m.hu%?hq*hq"hq hygyfyfyfdddjdZd@ˌ@颵2\Bɢ) .i)Ni2#1;i%?<F =I%?I@gA@hA^A0=1IqIO\>bEu|a4jEuƣf4rEuxE0E EE+E"E;*E:VE [4ZEBE;C2I2?2qٱ2 B >AHRS rotation from veh to nav: [[0.762385,-0.613789,-0.205016],[0.637521,0.766758,0.075164],[0.111063,-0.188006,0.975868]]2H@ve?(=ʿf? G?=?n?@ȿP:?i2>I2W^;2CYFbWByFtIbDNVDN0yVG%VP=ٔV+Q-V>9XYX=ZZFyZ"D^E^>`Q 5fg4bؕ?Q 9fg4b %)b:BYdyfC?Q If?b CIb:ib[:bg4ynBɮn E  E E -E "E T;*E :VE t4ZE a @a @a @a @ !> %= checking for new query: numPingsReceived=2, elapsed TxPingTime=44.061367u,J?A2^>21?2"ٱ2†D :AHRS rotation from veh to nav: [[0.763524,-0.611726,-0.206936],[0.635903,0.768029,0.075888],[0.112511,-0.189533,0.975407]]2H@n?A|ʿ`PY? ?]m?ͼ?`Bȿ`6?i2^>I2^;2C\YbmWByb{IIf>)f<%;=ٔQZQ->9Y=ZFy+D,E>Q 5g4ꕊ?Q 9g4);BYV,?Q E:y??Q I? CI$;i;zg4yɮ&AjhYeDNOT Ignoring new targets: 37.94 m.bhaRhm6޺Zhu6޺ ProNav: ac range: 37.942226 m, nav range: 31.202013 m, bearing: 38.483033 deg, approach rate: -0.682492 m/s, LOS rate: -0.097137 deg/s, cmd heading: 36.818541 deg, new cmd heading: 36.692720 deg. BhSHeadingCmd: 0.640409 target range: 37.942226 and range: 36.00 m.h#?h*h"h hgfffdddjdZd`$T @AQAQBQBQBUIBUWBBQBQBQBU?;BU>E\Bɢn) i)xi:+B;i#?<2=I#?IDAT read: 04:00:43.5303 LVL= 32368, 32753, 32754, 32755, AGC= 68, IDX= 409, 0.08, 2.742, 1.047, 2.934, 2.686, PHS= 0.157,-1.594, 0.204, RAW= 151.3, 13.8, CAL= 151.5, 15.4, ROT= 358.5, -15.4 Ygot valid direction response: 04:00:43.5303 LVL= 32368, 32753, 32754, 32755, AGC= 68, IDX= 409, 0.08, 2.742, 1.047, 2.934, 2.686, PHS= 0.157,-1.594, 0.204, RAW= 151.3, 13.8, CAL= 151.5, 15.4, ROT= 358.5, -15.4 PDAT read: Bearing 210.7, 1.6 (Local) ~Local bearing/azimuth received: Bearing 210.7, 1.6 (Local) DAT read: Range 11 to 50 : 33.8 m (Round-trip 45.1 ms) speed 0.5 m/s R#Rx 3: Read range and direction messages.^direction in FSK: [0.963765,-0.025237,0.265556]Fpublishing direction and range infoy)-V)?Miי<?Y-3B)-p~)) ))-DI- >i-1̿-`P>-)@-Ϣv>-%:)@ ->)-c9@I-))-M?Xe&?I{? - ?)-vI-wּi-))%checking for new query: numPingsReceived=3, elapsed TxPingTime=44.378677^A5D=A1zA1A Aa Ii Iy O >h,d?A2U>2T1?2ٱ2zE :AHRS rotation from veh to nav: [[0.764034,-0.610335,-0.209150],[0.634938,0.768827,0.075885],[0.114485,-0.190776,0.974935]]2Hr?݇lʿhQ?;?7m?`N?Ykȿ`2?i2U>I2=X_;2CYRsWByRIbDZVDZ0Eb EbEb(E`"Eb~ ;*Eb҆:VEbc44ZE`BEb V9tYt=vZFyv2Dz6;Ez>xQ 5g4zh?Q 9g4zC)z0;BYyw??Q I?z'!CIz];iz;zg4yBɮ*AEiYi]vW?AJi]BRi]Bji]8?b]^ b8@@s+ /\8!@R]V)?Miי<?Zi]wּbi]j]7@o7@qv4@oe.)@Z]H\G?L?&cs?2i]A:i]zA"i]1?*i]%Bi]Bi]Ĕ?i]TiYi]Ai],?checking for new query: numPingsReceived=3, elapsed TxPingTime=44.565197 addTargetRange:: Added new target pos. range: 33.799999 m, deltaT: 3.277396 s, deltaX: -2.200001 m, approachRate: -0.671265 m/s, rangeRepo size: 4  Added new target pos. range: 33.660172 m, bearing: 41.348417 deg, lat: 36.779365 deg, lon: -121.859549 deg, deltaT: 7.057327 s, deltaX: -4.282055 m, approachRate: -0.606753 m/s, posRepo size: 4 jh5DNOT Ignoring new targets: 33.66 m.bh9Rh=Zh9M ProNav: ac range: 33.660172 m, nav range: 30.937160 m, bearing: 38.661477 deg, approach rate: 0.000000 m/s, LOS rate: -0.097137 deg/s, cmd heading: 36.692719 deg, new cmd heading: 36.578642 deg. BhIuHeadingCmd: 0.638418 target range: 33.660172 and range: 33.80 m.huXo#?hq*hq"hq hygyfyfyfdddjd`f@@Zd7?\Bɢ#) Fi)}i%,K;i%Xo#?-l;<-=I-Xo#?Ii@=@ >Iy^At0== checking for new query: numPingsReceived=3, elapsed TxPingTime=44.818134A I I O >ԡ , ~?A=>=1?=] ٱ=G MAHRS rotation from veh to nav: [[0.764883,-0.608586,-0.211133],[0.633645,0.769831,0.076517],[0.115969,-0.192310,0.974458]]=H y?@y`g˿F?t??'?ȿ .?i=>I=f_;=CY]vWBy]IqiMb@Mb@Mb@ 9x&??9Y=ZFy!Q 5-g4% ?Q 95g4%,)%I;BY5f)?Q E5:y=G9?Q I=?%q!CI%(;i%';% g4yAɮE%AAjhimDNOT Ignoring new targets: 33.66 m.bhqRhuuZhuu ProNav: ac range: 33.660172 m, nav range: 30.645245 m, bearing: 38.634727 deg, approach rate: -0.696795 m/s, LOS rate: -0.064458 deg/s, cmd heading: 36.578641 deg, new cmd heading: 36.497628 deg. Bh0HeadingCmd: 0.637004 target range: 33.660172 and range: 33.80 m.h#?h*h"h hgfffdddjdZd(?颍\Bɢd") i)9ϊ顑iіT;i#?b<P=I#?IE EE*E"E;*E:VE(N4ZEa@a@a@a@checking for new query: numPingsReceived=3, elapsed TxPingTime=45.070084ԡ^A[=BQ BQ BU IBU XBBQ BQ BQ BU ;BU >EI I O = checking for new query: numPingsReceived=3, elapsed TxPingTime=45.321095,?A2U>2:0?25ٱ2F :AHRS rotation from veh to nav: [[0.765635,-0.607626,-0.211174],[0.632483,0.770951,0.074827],[0.117338,-0.190854,0.974580]]2H`?`q˿M=?࡫?'? ? mȿ/?i2U>I2I_;2CYr}WByvI xxbD~VD~k2y d<% ]=ٔsQ->9Y=ZFyCDtE>!Q 5-g4%P?Q 9-g4%)%^;BY1y58?Q I5?%!CI%l:i%:%g4y=Bɮ='A=EjhamDNOT Ignoring new targets: 33.66 m.bhiRhmZhm} ProNav: ac range: 33.660172 m, nav range: 30.401121 m, bearing: 38.612576 deg, approach rate: -0.659601 m/s, LOS rate: -0.060332 deg/s, cmd heading: 36.497628 deg, new cmd heading: 36.430640 deg. Bh%HeadingCmd: 0.635835 target range: 33.660172 and range: 33.80 m.h"?h*h"h hgfffdddjdZd:?\BɢҞ.) i)PŒi7L^;i"?<)=I"?I^A{=E EE,E"E;*E:VEg4ZEBE@Y ,5`?AYWBy IbDVDy-x;%-H=ٔ-Q-5>91Y1=5ZFy5KD=E=>AQ 5Mg4EP-?Q 9Mg4E> )Eu;BYIyIQ IU?E!CIE:iE:E>g4y]Bɮ] A]E}B*** querying acoustic contact ***iy iyjhDNOT Ignoring new targets: 33.66 m.bhRh(Zh( ProNav: ac range: 33.660172 m, nav range: 30.132517 m, bearing: 38.587788 deg, approach rate: -0.658026 m/s, LOS rate: -0.061267 deg/s, cmd heading: 36.430641 deg, new cmd heading: 36.355614 deg. Bh0(HeadingCmd: 0.634525 target range: 33.660172 and range: 33.80 m.h>p"?h*h"h hgfffdddjdZd?]Bɢȓ*) i)ih;i>p"?FZ<ʈ=I>p"?I@ @ 1checking for new query: numPingsReceived=3, elapsed TxPingTime=45.825108i^A9IIOm>ԉD D <E  E E )E "E ;*E ą:VE FA4ZE a @a @a @a @  Gg> Cu gG  checking for new query: numPingsReceived=3, elapsed TxPingTime=46.077122 - u9) Y- _AԹ o,:̛?A2>2/?2Pٱ2@^H :AHRS rotation from veh to nav: [[0.767761,-0.603785,-0.214446],[0.629360,0.773426,0.075613],[0.120204,-0.193016,0.973805]]2H@?5R`r˿#??`[[?ž?ȿh)?i2>I2^;2CY^WBybIiMb@Mb@Mb@ 9/$?Mb`~jtY1(?yA )YAbD VD :y=%<=ٔٻQ-%>9!Y!=%ZFy%TD-E->1Q 5=g45??Q 9Eg45)5;BYEC(?Q EE:yE-?Q IE?5>"CI56;i5s:5mg4yUBɮUAUEjhy}DNOT Ignoring new targets: 33.66 m.bhyRhѸZhѸԙ ProNav: ac range: 33.660172 m, nav range: 29.848175 m, bearing: 38.585315 deg, approach rate: -0.653446 m/s, LOS rate: -0.005737 deg/s, cmd heading: 36.355615 deg, new cmd heading: 36.348126 deg. Bh{HeadingCmd: 0.634394 target range: 33.660172 and range: 33.80 m.hg"?h*h"h hgfffdddjdZd?>]BɢT6*) iB1A5p<B=n>B9B=IB= XBB= =B9B9B=;B=w>EBBBBBC¶k4)@顉i=s;ig"?q"<́=Ig"?Ichecking for new query: numPingsReceived=3, elapsed TxPingTime=46.329239^Az=IIO> ,曻?A2>2//?2u ٱ2%I :AHRS rotation from veh to nav: [[0.769075,-0.601586,-0.215912],[0.627440,0.774983,0.075632],[0.121829,-0.193638,0.973479]]2H C?1@`˿??`\?`,0?#ȿ &?i2>I2^;2CER ERER,EP"ERl;*ER$:VERg4ZEPBER^F9!Y!=%ZFy%\D-λE->1Q 5=g45O?Q 9=g45)5;BY9yE,?Q IE?5|"CI5<;i5Y;5hg4yIɮMAIechecking for new query: numPingsReceived=3, elapsed TxPingTime=46.581245jhDNOT Ignoring new targets: 33.66 m.bhRhNZhN ProNav: ac range: 33.660172 m, nav range: 29.605181 m, bearing: 38.584272 deg, approach rate: -0.652991 m/s, LOS rate: -0.002826 deg/s, cmd heading: 36.348125 deg, new cmd heading: 36.344970 deg. BhIHeadingCmd: 0.634339 target range: 33.660172 and range: 33.80 m.hd"?h*h"h hgfffdddjdZdO9@a]Bɢi5) Ѹi)ғi%};id"?l<4|=Id"?I^A=AgAzAIIO= checking for new query: numPingsReceived=3, elapsed TxPingTime=46.833225I A,v?A\Ug>U.?UٱU.I AHRS rotation from veh to nav: [[0.770521,-0.599283,-0.217159],[0.625389,0.776624,0.075789],[0.123232,-0.194206,0.973190]]UH? S-˿0??f?"?ȿ^$?iUg>IU^;UCYWByIiEMb@Mb@Mb@AAAA A9ECl? rhQYE;?yECEuEKAE5A E A)EAAYEAbDeVDe02yu<%u6=ٔuNQ-u>9yYy=}ZFy}eD}RE>Q 5g4b?Q 9g4#);BYV?Q E:yn&?Q I?"CI. ;ie ;g4yBɮ۞AEjhDNOT Ignoring new targets: 33.66 m.bhRh:Zh: ProNav: ac range: 33.660172 m, nav range: 29.327707 m, bearing: 38.596907 deg, approach rate: -0.621185 m/s, LOS rate: 0.028555 deg/s, cmd heading: 36.344970 deg, new cmd heading: 36.383235 deg. BhƜ:HeadingCmd: 0.635007 target range: 33.660172 and range: 33.80 m.h֏"?h*h"h hgfffdddjdZdy@5]Bɢ5z/)1 5~i1)=99i=և;iE֏"?E'er=IE֏"?II@]>@]=DzDE EE*E"E ;*E?:VE(N4ZEa@a@a@a@e=e=mchecking for new query: numPingsReceived=3, elapsed TxPingTime=47.085594^Ap=-PExceeded connect timeout, disconnecting.B1 B1 B5 IB5 XBB1 B1 B1 B5 ܇;B5 _>EI I O >9  checking for new query: numPingsReceived=3, elapsed TxPingTime=47.337360&,d?A20>2(-?2"ٱ2I :AHRS rotation from veh to nav: [[0.772273,-0.596831,-0.217686],[0.623021,0.778527,0.075765],[0.124256,-0.194134,0.973074]]2Hu?=%˿??Re?<Ͽ?@dȿ`k#?i20>I2!_;0YBWByBIbDJVDJyRh<%Rm=ٔVUDQ-V?9TYT=ZZFyZlDZ EZ?\Q 5bg4^p?Q 9bg4^)^;BYdyf%?Q If?^"CI^6:i^B:^g4yjBɮjٞAh9jhy}DNOT Ignoring new targets: 33.66 m.bhyRh:Zh: ProNav: ac range: 33.660172 m, nav range: 29.114607 m, bearing: 38.608020 deg, approach rate: -0.591107 m/s, LOS rate: 0.031052 deg/s, cmd heading: 36.383236 deg, new cmd heading: 36.416820 deg. Bh|:HeadingCmd: 0.635593 target range: 33.660172 and range: 33.80 m.h@"?h*h"h hgfffdddjdZd.@=]Bɢ=ze<)A EʿiA)EfǘAAiE B;iM@"?M E EE-E"E;*E:VEt4ZEBEA:l"-?:Tٱ:H BAHRS rotation from veh to nav: [[0.773716,-0.594808,-0.218097],[0.620962,0.780247,0.074970],[0.125577,-0.193436,0.973043]]:HH?˿? ?@>1??ȿ+#?i:>I:^;:CY^WBybIdfAbDjVDj:yr=%rF=ٔvSQ-v>9tYt=vZFyvtDzɻEz>|Q 5h4~?Q 9h4~)~;BYy %?Q I ?~;#CI~:i~R:~ h4yɮA5B*** querying acoustic contact ***i1 i1jhAEDNOT Ignoring new targets: 33.66 m.bhARhM),:ZhM),:] ProNav: ac range: 33.660172 m, nav range: 28.859634 m, bearing: 38.622810 deg, approach rate: -0.643034 m/s, LOS rate: 0.037629 deg/s, cmd heading: 36.416820 deg, new cmd heading: 36.461582 deg. Bh]:eHeadingCmd: 0.636375 target range: 33.660172 and range: 33.80 m.hes"?ha*ha"ha hagafififididqdqjdqZdu@ @ԙ颥]Bɢ<) i¿i)1顩i#;is"?l<tc\=Is"?IiIchecking for new query: numPingsReceived=3, elapsed TxPingTime=47.841511^Apu=IyIOb>D %=D %=E  E E +E "E ;*E $:VE [4ZE a @a @a @a @ checking for new query: numPingsReceived=3, elapsed TxPingTime=48.095856 8,σM?A>|>>R,?>Hٱ>(J RAHRS rotation from veh to nav: [[0.775549,-0.591874,-0.219564],[0.618404,0.782198,0.075786],[0.126887,-0.194555,0.972650]]>H`L?@̿??f?=?,ȿ?i>|>I>P^;>CYnWByrIiMb@Mb@Mb@ 9rh|?+{Gzt?Y?ynManaging dock network, ignoring radio surface power offף;AوA )KAYAbDVDy$=%9=ٔkDQ- >9 Y = ZFy }DE>Q 5%h4r?Q 9%h4)"B9B=IB=>XBB9B9B9B=ɇ;B=K>Ei-4]#?-&<-K=I-4]#?I1!checking for new query: numPingsReceived=3, elapsed TxPingTime=48.345108I^AW=I I! O- >y b,]g?A6K@>6v+?6iٱ6IbE jE [4rE /EF EFEF,ED"EF=;*EF҆:VEFg4ZEDBEFII6^;6CYZWByZIbDbVDbN2yj7=%j`=ٔjEQ-j>9lYl=nZFynDrEr>tQ 5zh4v?Q 9zh4ve)vCUF*?U\sٱUH AHRS rotation from veh to nav: [[0.779410,-0.586706,-0.219763],[0.613092,0.786468,0.074740],[0.128986,-0.192988,0.972686]]UH?K@1!̿ t?`*?,"?? ׳ȿ> ?iUk>IU^;UCY!XByIIp<)9Y=ZFyDE>Q 5h4?Q 9h4%)uEA I I O > checking for new query: numPingsReceived=3, elapsed TxPingTime=49.353107) t&,U?A2>>2)?2[ٱ2EG :AHRS rotation from veh to nav: [[0.780920,-0.584655,-0.219869],[0.610982,0.788152,0.074279],[0.129863,-0.192342,0.972698]]2H`L?`~@$̿*?@8??V?ȿV ?i2>>I2_;2CYBSXByBIbDNVDNk1yV>%Vt=ٔV,Q-V?9XYX=ZZFyZDZfE^?`Q 5bh4bĖ?Q 9fh4b)b9E EE)E"E;*E:VEFA4ZEBEA61)?6 8ٱ6zG BAHRS rotation from veh to nav: [[0.782659,-0.582237,-0.220102],[0.608575,0.790022,0.074175],[0.130698,-0.192002,0.972653]]6H` ?`M,̿qy?`G???ȿ?i6r>I6 ^;4YJiXByJIbDRVDRyZWZ=%ZJ=ٔZBQ-^>9^ ?Y^ ?=^ZFybDbEb>dQ 5jh4fԖ?Q 9jh4fr)f@u^BɢuE)q uſiq)}8秽yyi}0;ir$?%<{=Ir$?Ichecking for new query: numPingsReceived=3, elapsed TxPingTime=49.857231ԉp*<E  E E -E "E =;*E :VE t4ZE a @a @a @a @ ^A m,=e %=e R=u checking for new query: numPingsReceived=3, elapsed TxPingTime=50.109829Au ؟AI I O >(3,Ϝ?AJ&(?JٱJ F RAHRS rotation from veh to nav: [[0.783964,-0.580439,-0.220206],[0.606723,0.791485,0.073753],[0.131481,-0.191424,0.972661]]JH<? @/̿Fj?S?`{?[?ȿ` ?iJ,>IJ^;HYZXByZ6I \\iEMb@Mb@Mb@AAAA A9E1Zd?I +/$?YE"?yE94E,=EAA ErA)EAAYE=AbD]VD]0ym=%m9=ٔuuQ-u>9u"?Y}"?=}ZFy}D}E}>Q 5h4斊?Q 9h4?)BqBuFIBuXBBqBqBqBu‡;Bqh*h"h hgfffdddjdZd`K@-^Bɢ-];)) -!ſi))-ܪ11i5eڴ;i=$?=]<=K =I=$?I9ԡR5<echecking for new query: numPingsReceived=3, elapsed TxPingTime=50.361698^A=AII!O-> 9,u霻?AE EE,E"EO;*E:VEg4ZEBE,YB(?B2ٱBpsF JAHRS rotation from veh to nav: [[0.785291,-0.578652,-0.220180],[0.604880,0.792917,0.073501],[0.132053,-0.190902,0.972686]]BH!?R.̿@-[?_?в?@?|oȿ> ?iB_>IB^;BCYRXByRIIbchecking for new query: numPingsReceived=3, elapsed TxPingTime=50.613129bDZVDZβyjٜ=%jU=lٔjHźQ-n>9pYp=rZFyrDrDûEr>tQ 5zh4vj?Q 9~h4v)v+=BY|y~&?Q I~?v$CIv;iv;voh4yBɮ A EjhDNOT Ignoring new targets: 33.66 m.bhRhB:ZhB:e ProNav: ac range: 33.660172 m, nav range: 27.170492 m, bearing: 38.787862 deg, approach rate: -0.560728 m/s, LOS rate: 0.029782 deg/s, cmd heading: 36.924614 deg, new cmd heading: 36.961027 deg. Bhe:mHeadingCmd: 0.645092 target range: 33.660172 and range: 33.80 m.hm$%?h*h"h hgfffdddjdZd@w@U^BɢUD)Y ]ƿiY)]s}YYi]@;ie$%?<-A,5y?A~XG)> '?ǗٱDUO9QYU;=A eAHRS rotation from veh to nav: [[0.785837,-0.577983,-0.219989],[0.603963,0.793752,0.072011],[0.132996,-0.189454,0.972841]]H%?~(̿S?kf?@Ho??@ȿ!?i>Ik^;CYuXByuhIE EE*E"E;*E˭:VE(N4ZEa@a@a@a@Mchecking for new query: numPingsReceived=3, elapsed TxPingTime=51.117214ieMb@Mb@Mb@aaaa a9eCl?Zd;O?S㥫?Yed?yej9 ?Y ?=ZFyD E>Q 5h4?Q 9h4c)o=BY?Q E:y5?Q I?9%CI:ij:h4yɮAjhDNOT Ignoring new targets: 33.66 m.bhRhDNZhDN ProNav: ac range: 33.660172 m, nav range: 26.866936 m, bearing: 38.766155 deg, approach rate: -0.623431 m/s, LOS rate: -0.045083 deg/s, cmd heading: 36.961026 deg, new cmd heading: 36.895172 deg. Bh HeadingCmd: 0.643942 target range: 33.660172 and range: 33.80 m.h f$?h *h"h hgfffddd!jd!Zd%R@_Bɢ7>) %ƿi!)-}))i-B;i]f$?eDEBBBBƚ =Bƚ =CƈN4A؟AI&dClearing failed state for component DockingStepperqIO%>9  checking for new query: numPingsReceived=3, elapsed TxPingTime=51.369072G,/0 ?Aɰ>1>>d'?>Ͳ ٱ>xD FAHRS rotation from veh to nav: [[0.786564,-0.576893,-0.220251],[0.602779,0.794740,0.071029],[0.134066,-0.188632,0.972854]]>H+?u/1̿I? n?@.? )?%ȿ !?i>1>I>S^;ԩ 1M,9 :?A2|>29'?2P ٱ2'{B :AHRS rotation from veh to nav: [[0.786789,-0.576490,-0.220505],[0.602135,0.795410,0.068970],[0.135631,-0.187039,0.972944]]2H`-?`r9̿@D?s??`[\?ǿ@\"?i2|>I2^;2C@YF6YByFIbDNVDNyVœ=%VL=ٔZQ-Z>9XYX=ZZFy^D^պbchecking for new query: numPingsReceived=3, elapsed TxPingTime=51.873260Ef>hQ 5nh4jA%?Q 9nh4j)j=BYYy]R5?Q I]?j%CIjBAE EE+E"E ;*E:VE [4ZEa%@a%@a%@a%@I1IAOIuchecking for new query: numPingsReceived=3, elapsed TxPingTime=52.125080 T,)S?A2>2jD'?2 ٱ2? :AHRS rotation from veh to nav: [[0.786516,-0.576917,-0.220363],[0.602128,0.795665,0.066030],[0.137241,-0.184620,0.973181]]2H#+?v`4̿D?v?W??ǿK$?i2>I2^;2CYBUYByBIBRk>BPBRIBRYBBPBPBPBRÇ;BRA>Eli-Mb@Mb@Mb@)))) )9-)\(?A`"?&1?Y-G!?y-Y=-P=)-+A -A)))Y-3AbDVD1y"=%:=ٔrQ->9Y=ZFyD\9E>Q 5h45?Q 9h4) >BY`"?Q E:y@?Q I?%CI ;i<:h4yBɮAEjhDNOT Ignoring new targets: 33.66 m.bhRhZh- ProNav: ac range: 33.660172 m, nav range: 26.151840 m, bearing: 38.689762 deg, approach rate: -0.652804 m/s, LOS rate: -0.110846 deg/s, cmd heading: 36.801787 deg, new cmd heading: 36.663798 deg. Bh-%5HeadingCmd: 0.639904 target range: 33.660172 and range: 33.80 m.h5#?h9*h9"h9 h9g9f9fAfAdAdAdIjdIZdM@ @}_Bɢ}NI)y }ǿi)&޷顁iB;i#?a$< =I#?IiIchecking for new query: numPingsReceived=3, elapsed TxPingTime=52.379589 AIIO$>1a E%  E! E% ,E! "E% ;*E! VE% g4ZE! BE% R~@x'?~M ٱ~>  AHRS rotation from veh to nav: [[0.785809,-0.577546,-0.221234],[0.602573,0.795532,0.063513],[0.139317,-0.183218,0.973150]]~H@Y%?B{cQ̿HH?t?`_B?#?sǿ` $?i~cC>I~^;|9YE}YByEI IIbDyVDyy=%M=ٔQ->9Y=ZFyD;E>Q 5h4QE?Q 9h4f)?>BYy@?Q I?1&CI:i:h4yɮmAjh9EDNOT Ignoring new targets: 33.66 m.bhARhEZhM ProNav: ac range: 33.660172 m, nav range: 25.902802 m, bearing: 38.646653 deg, approach rate: -0.607560 m/s, LOS rate: -0.106181 deg/s, cmd heading: 36.663796 deg, new cmd heading: 36.533226 deg. BhHeadingCmd: 0.637625 target range: 33.660172 and range: 33.80 m.hf;#?h*h"h hgfffdddjdZd@ @_Bɢ K) #ȿi)ʼni+;if;#?/^<[s=If;#?Iachecking for new query: numPingsReceived=3, elapsed TxPingTime=52.881084ԑA II!O5>Թ da,?Af>fx'?f-ٱf}|= nAHRS rotation from veh to nav: [[0.784992,-0.578335,-0.222072],[0.603226,0.795204,0.061391],[0.141088,-0.182151,0.973096]]fH`?@l̿ M?`Or?n?+?@Pǿ#?if>If^;fCYvYByvIiuMb@Mb@Mb@qqqq q9uE?/$?/$?Yu&?yu=u,=uAuԈA uA)u=AqYu̘AԑbDVDy?=%H=ٔQ->9Y=ZFyD&;E>Q 5h4T?Q 9h4)p>BYa(?Q E:yK?Q I?t&CI:iM: h4E EE(E"E ;*E$:VEc44ZEa@a@a@a@yBɮCAEjhDNOT Ignoring new targets: 33.66 m.bhRhKZhK- ProNav: ac range: 33.660172 m, nav range: 25.643503 m, bearing: 38.576397 deg, approach rate: -0.650629 m/s, LOS rate: -0.178068 deg/s, cmd heading: 36.533227 deg, new cmd heading: 36.320329 deg. 54=1=checking for new query: numPingsReceived=3, elapsed TxPingTime=53.133484Bh-iEHeadingCmd: 0.633909 target range: 33.660172 and range: 33.80 m.hEG"?hA*hA"hA hAgIfIffdddjdZd`a!@颍_BɢޣL) ɿi)*D顡i|;iG"?<$=IG"?IIIOH>Bj>BBIBYBB =BBDB;B8>E checking for new query: numPingsReceived=3, elapsed TxPingTime=53.385117 g,l{?A2b>2(?2ٱ2< :AHRS rotation from veh to nav: [[0.784089,-0.579203,-0.222998],[0.603987,0.794779,0.059382],[0.142840,-0.181248,0.973009]]2HB?ӈ0̿S?n?Ig?`H?%3ǿ"?i2b>I2^;2CYNYByRIVAATbDZVDZ1yv.=%vW=ٔvԘQ-v>9xYx=zZFyzDzZI;E~>Q 5 h42c?Q 9 h4)>BY y K?Q I ?&CI:i9:Nh4yɮAjhDNOT Ignoring new targets: 33.66 m.bhRhGZhG ProNav: ac range: 33.660172 m, nav range: 25.399895 m, bearing: 38.508418 deg, approach rate: -0.620647 m/s, LOS rate: -0.174852 deg/s, cmd heading: 36.320330 deg, new cmd heading: 36.114439 deg. BhHeadingCmd: 0.630316 target range: 33.660172 and range: 33.80 m.hb\!?h!*h!"h! h!g!f!f)f)d)d)d1jd1Zd5@q"@]`Bɢe7T)a eȿia)eaiim;imb\!?uy (n,kb?A2H>2{(?2ٱ2< :AHRS rotation from veh to nav: [[0.782776,-0.580262,-0.224852],[0.605170,0.793999,0.057751],[0.145021,-0.181280,0.972680]]2H ?@̿]?oh?@??/4ǿ1 ?i2H>I2^;2CYBYByBIRchecking for new query: numPingsReceived=3, elapsed TxPingTime=53.889206bDRVDRfyZ[g=%ZM=ٔ^qQ-^>9\Y\=bZFybDb;Eb>dQ 5jh4fUr?Q 9jh4f)f>BYlynUL?Q In?f&CIfQ;ifn;f6h4yrBɮrʚApjh DNOT Ignoring new targets: 33.66 m.bhRh_Zh_% ProNav: ac range: 33.660172 m, nav range: 25.144638 m, bearing: 38.434691 deg, approach rate: -0.668376 m/s, LOS rate: -0.195012 deg/s, cmd heading: 36.114441 deg, new cmd heading: 35.891014 deg. Bh%-HeadingCmd: 0.626416 target range: 33.660172 and range: 33.80 m.h-\ ?h)*h1"h1 h1g1f1f9f9d9d9dAjdAZdE1#@m5`Bɢm)uズ uʿiy)}yyi};i\ ?]<!H=I\ ?IQ^A=IQIaOu=ԁE EE,E"E ;*E:VEg4ZEa@a@a@a@Uchecking for new query: numPingsReceived=3, elapsed TxPingTime=54.141106ԩ u,1՝?AB A"<B&h>B&>CB&@IB&OZBB$B$B$B&ʇ;B&F>EB:>B(?B*ٱB96; JAHRS rotation from veh to nav: [[0.781416,-0.581752,-0.225730],[0.606427,0.793238,0.054953],[0.147088,-0.179830,0.972639]]BH[?@ ̿g?3b?"??ǿ`?iB:>IB^;BCYnZBynIiMb@Mb@Mb@ 9q= ףp?bX9ȶ?/$?Y+?yE=<ߪA )AYbDVDyʻ=%:=ٔ[Q->9Y=[FyD-;E>Q 5h4?Q 9h4)>BY-?Q E:y L?Q I??'CIj:iQ:h4yɮwAB*** querying acoustic contact ***i ijh!-DNOT Ignoring new targets: 33.66 m.bh)Rh->`Zh->`= ProNav: ac range: 33.660172 m, nav range: 24.853846 m, bearing: 38.349596 deg, approach rate: -0.662204 m/s, LOS rate: -0.196048 deg/s, cmd heading: 35.891015 deg, new cmd heading: 35.632746 deg. Bh=EHeadingCmd: 0.621909 target range: 33.660172 and range: 33.80 m.hEi5?hA*hI"hI hIgIfIԱf)f)d1d1d1jd1Zd=R $@颥f`Bɢ8ѽchecking for new query: numPingsReceived=3, elapsed TxPingTime=54.393208) ˿i)i.;ii5?<]=Ii5?I ^AM d6=I I O >E  E E E "E ;*E 1:VE ZE BE bj@V)?j+ٱj; rAHRS rotation from veh to nav: [[0.780277,-0.582704,-0.227208],[0.607420,0.792591,0.053301],[0.149024,-0.179600,0.972386]]jH@?'Ϳ o?\?GJ? :? %ƿ@?ije>Ij^;hYzZByz#I bD VD Nyy=%V=ٔQ->9!Y!=%[Fy%D%T;E->)Q 55h4-?Q 9=h4-)-&?BY9y=qL?Q I=?-'CI-;i-;-h4yEBɮM;AMEjhiuDNOT Ignoring new targets: 33.66 m.bhqRh}"hZh}"h ProNav: ac range: 33.660172 m, nav range: 24.600811 m, bearing: 38.272977 deg, approach rate: -0.663414 m/s, LOS rate: -0.202948 deg/s, cmd heading: 35.632745 deg, new cmd heading: 35.400525 deg. BhH HeadingCmd: 0.617856 target range: 33.660172 and range: 33.80 m.h+?h*h"h hgfffdddjdZd`/$@U`BɢU~)Q U:ͿiQ)YYYi];ie+?eCy1checking for new query: numPingsReceived=3, elapsed TxPingTime=54.898067a #,?A >)?ٱ: AHRS rotation from veh to nav: [[0.779169,-0.583713,-0.228417],[0.608388,0.791970,0.051455],[0.150865,-0.179058,0.972203]]H?ǭ@<Ϳ`w?W?@LX?@O?``ƿH?i>IJ^;CY%1ZBy%.I15AE EE-E"E;*E?:VEt4ZEa@a@a@a@iMb@Mb@Mb@ 9K7A`?Zd;O?Y+?yj=ԨAxA )AYAbDVD:y $=%==ٔBQ->9Y=[Fy D];E>checking for new query: numPingsReceived=3, elapsed TxPingTime=55.149181Q 5i4?Q 9i4D)K?BY%,?Q E-:y-pL?Q I?'CIB9B=yIB=ZBB= =B9B9B=ȇ;B=A>Eԑ< &Changing to mode: 2 checking for new query: numPingsReceived=3, elapsed TxPingTime=55.401436 = P@9  @9 @= c4@9 ^AeS^=Ae>Ae>A.AIIO ?,~T,?AE EE+E"Ef;*E:VE [4ZEBEW~'*?~|ٱ~+9 -AHRS rotation from veh to nav: [[0.777829,-0.585068,-0.229516],[0.609514,0.791288,0.048537],[0.153216,-0.177647,0.972094]]~H@?`Ϳ`#?`;R?٨??$ƿ`d?i~>I~a^;~CYEPZByEAIaabD-VD-y]CW=%e=ٔe}iQ-m>9m ?Yu ?=u[FyuDuG;Eu>yQ 5i4}߹?Q 9i4})}}?BYyL?Q I?},(CI}8;i}D;}!i4yBɮAjhDNOT Ignoring new targets: 33.66 m.bhRhiZhi ProNav: ac range: 33.660172 m, nav range: 23.938072 m, bearing: 38.062915 deg, approach rate: -0.701224 m/s, LOS rate: -0.229775 deg/s, cmd heading: 35.131467 deg, new cmd heading: 34.761487 deg. BhHeadingCmd: 0.606702 target range: 33.660172 and range: 33.80 m.hP?h*h"h hgfffdddjdZd&@}`Bɢ@ν) \Կi)YYYi]G;ieP?eJ us,F?A 'g>ChAq脿9hAYqA;>t*?s!ٱ: AHRS rotation from veh to nav: [[0.776648,-0.585094,-0.233417],[0.610053,0.790955,0.047184],[0.157015,-0.179042,0.971231]]HL?@Ϳ@?@O?@(??ƿ`S?i;>I2^;Y`ZByKIEonly read 0 of 1 data item for water mass range. Device response is::WD, ,82.55, .29, 20.00,182.67 aE@aE aE@aE aE@aE aE@aE EU EUEQEQ"EU;*EU1:VEQZEQa]@a]@a]@ae@bDeVDe y} =%:=ٔ4Q->9"?Y"?=[FyDchecking for new query: numPingsReceived=3, elapsed TxPingTime=56.158344+;E>Q 5i4[˗?Q 9i4v)?BQ A+:YQ E:y5M?Q I?x(CI;iz>u.i4yɮʙAjhDNOT Ignoring new targets: 33.66 m.bhRhsZhs ProNav: ac range: 33.660172 m, nav range: 23.642618 m, bearing: 37.963995 deg, approach rate: -0.628584 m/s, LOS rate: -0.213083 deg/s, cmd heading: 34.761486 deg, new cmd heading: 34.461022 deg. Bh < HeadingCmd: 0.601458 target range: 33.660172 and range: 33.80 m.h ,?h*h"h hgfffddd!jdAZdE'@颍$aBɢʷ߽) ؿi)顑iO;i,?9<=I,?IAA?ABd>BBIBZBB =BBB;B,>EB>CB>CBBǛ =Bǜ =CJ59 vтe checking for new query: numPingsReceived=3, elapsed TxPingTime=56.409206} O@y  @y @ /@ @ =@ =Y ԁ^AS=A.AIIO?ea,k?AB>B\Z*?B˶"ٱBB=x ~AHRS rotation from veh to nav: [[0.776734,-0.583919,-0.236056],[0.609628,0.791180,0.048860],[0.158233,-0.181857,0.970510]]BH?`w7ο?`YQ?$? @?`Gǿk?iB>IB^;BCY~ZBy%^IEchecking for new query: numPingsReceived=3, elapsed TxPingTime=56.661598IQ)U;bDmVDm:ylj=%=ٔQ->9 ?Y ?=[Fy)DFE>Q 5i4ߗ?Q 9i4)?BQ A :YQ EN:yM?Q I?(CIJ;iw?P:i4yBɮAEB*** querying acoustic contact ***i iE  E E -E "E ;*E :VE t4ZE BE N\*x,)?A2Y>2;#*?2r\#ٱ2rb@ >AHRS rotation from veh to nav: [[0.777168,-0.582537,-0.238036],[0.608913,0.791611,0.050770],[0.158856,-0.184401,0.969928]]2H ?#wο6|? T?@?hU?pǿ@ ?i2Y>I2z^;2CYBZByFgIhbD~VD~y%=%5L=ٔE̺Q-E>9u"?Yu"?=}[Fy1DE>Q 5%i4Y?Q 9Ui4)?BQ A]9YYQ Ee':yeL?Q Ie?)CIq~B=CBIB.[BB =BBB;B>EY ^A1  checking for new query: numPingsReceived=3, elapsed TxPingTime=57.418034A ԉ I I O >!R,h梞?A2>2)?2#ٱ2WZC :AHRS rotation from veh to nav: [[0.778246,-0.580349,-0.239849],[0.607459,0.792559,0.053331],[0.159144,-0.187203,0.969344]]2Hd?8[ο Mp?\?@.N?`^?@Aǿ?i2>I2p^;2CYBZByBwIa a  a a  a a  a a  i Mb@Mb@Mb@     9 Q?+?I +Y (?y = 9  ʆA A) &A Y AbD%VD%:y5b=%54=ٔ= *Q-=>99Y9=E[FyE:DEEE>IQ 5Ui4M?Q 9Ui4M)M@BQ A]T:Y]Y)?Q E]:y]6?Q I]?Ma)CIM;iM:MQi4yBɮy s,К?A4:>:)?:#ٱ:#F BAHRS rotation from veh to nav: [[0.779599,-0.577918,-0.241320],[0.605715,0.793707,0.056013],[0.159166,-0.189839,0.968828]]:H`z?N~οb?@ f?@í?_?`Lȿ?i:>I:}^;:CYJZByJI LLPPbDVVDVk1y^Ò=%^T=ٔbyQ-b>9`Y`=f[FyfBDfEf>hQ 5ni4jC?Q 9ri4jc)j;@BYpyr]6?Q Ir?j)CIj;ij;j^i4yvBɮvAzEchecking for new query: numPingsReceived=3, elapsed TxPingTime=57.921234jh!-DNOT Ignoring new targets: 33.66 m.bh)Rh-TܺZh-Tܺ= ProNav: ac range: 33.660172 m, nav range: 22.486696 m, bearing: 37.673626 deg, approach rate: -0.688714 m/s, LOS rate: -0.096313 deg/s, cmd heading: 33.684744 deg, new cmd heading: 33.578496 deg. BhE2EHeadingCmd: 0.586055 target range: 33.660172 and range: 33.80 m.hE?hI*hI"hI hIgIfIfQfQdQdQdYjdYZd]w<+@颅aBɢ) i)顉is;i?w[<ː=I?IP@ @@@ԑ^A=DU=DU<checking for new query: numPingsReceived=3, elapsed TxPingTime=58.174599E  E E *E "E ;*E v:VE (N4ZE a @a @a @a @A .AI I O >\,}֞?AB_>BBIBa[BBBBDB;B >EBR$>Bh(?B#ٱBJG JAHRS rotation from veh to nav: [[0.781228,-0.575380,-0.242115],[0.603626,0.795152,0.058051],[0.159117,-0.191498,0.968509]]BH?iοP?q?渭?]?@ȿ`?iBR$>IB;^;@YRZByRI\i-Mb@Mb@Mb@)))) )9-~jt?I +?QY-$?y-94<-u-xA-A ))))Y-AbDMVDMN2y]X<%]@=ٔ]8Q-]>9e ?Ye ?=e[FyeJDe3ϻEm>iQ 5}i4m"$?Q 9}i4m)m`@BY}$?Q E}:y}+?Q I}?m)CIm ;im2 ;m`mi4yɮAjh)UDNOT Ignoring new targets: 33.66 m.bhQRh]ۺZh]ۺm ProNav: ac range: 33.660172 m, nav range: 22.216143 m, bearing: 37.664778 deg, approach rate: -0.616885 m/s, LOS rate: -0.020420 deg/s, cmd heading: 33.578494 deg, new cmd heading: 33.551626 deg. Bhm:`HeadingCmd: 0.585586 target range: 33.660172 and range: 33.80 m.h?h*h"h hgfffdddjdZd !,@5 bBɢ5)1 5i1)999i= ;iE?Eq checking for new query: numPingsReceived=3, elapsed TxPingTime=58.678112bEg4jEb4rE6/E  E E ,E "E ~ ;*E :VE g4ZE BE V:'?:#ٱ:J ^AHRS rotation from veh to nav: [[0.783048,-0.572497,-0.243068],[0.601286,0.796741,0.060493],[0.159030,-0.193522,0.968121]]:H@?Q Ͽ=?~??[? Wȿ ?i:̚>I:^;:CYfZByfIbDnVDn0yv=%vO=ٔzg9Q-z>|9z"?Y~"?=~[Fy~RDE> Q 5i4 4?Q 9i4 ) @BYy*?Q I? (*CI ;i ; 1{i4y%Bɮ%A%EEB*** querying acoustic contact ***iA iAjhIUDNOT Ignoring new targets: 33.66 m.bhQRhUǜZh]ǜe ProNav: ac range: 33.660172 m, nav range: 21.964144 m, bearing: 37.658351 deg, approach rate: -0.664146 m/s, LOS rate: -0.017133 deg/s, cmd heading: 33.551627 deg, new cmd heading: 33.532125 deg. Bhm"<mHeadingCmd: 0.585246 target range: 33.660172 and range: 33.80 m.hm?hq*hq"hq hgfffdddjdZdp,@M4bBɢ) |i)i=Į;i%?%]<%n=I%?I)!P@ @@@@=@>checking for new query: numPingsReceived=3, elapsed TxPingTime=58.929005Q^AӦ=AfAzAhAԁ A I! I1 O= >+,} ?AYuA>u/&?u"ٱuSL AHRS rotation from veh to nav: [[0.785300,-0.569197,-0.243554],[0.598536,0.798567,0.063595],[0.158296,-0.195718,0.967800]]uH.!?6@,Ͽ6'?܍?G? C?E ɿ7?iuA>Iu^;uCYZBy II=)=EU EUEU.EQ"EU;*EU՚:VEUـ4ZEQae@ae@ae@ae@]checking for new query: numPingsReceived=3, elapsed TxPingTime=59.181911i=Mb@Mb@Mb@9999 99=T㥛 ?~jtY=!?y==99 =A)=ʆA9Y=GAbDUVDUNyep=%e(=ٔm:Q-m>9iYi=u[Fyu\Du_Eu>yQ 5i4}kI?Q 9i4}C{)}@BY!?Q E:y ?Q I?}u*CI}+;i}A;}i4yɮAjhDNOT Ignoring new targets: 33.66 m.bhRheN:ZheN:u ProNav: ac range: 33.660172 m, nav range: 21.663671 m, bearing: 37.686989 deg, approach rate: -0.621124 m/s, LOS rate: 0.060020 deg/s, cmd heading: 33.532124 deg, new cmd heading: 33.619230 deg. Bhu$;}HeadingCmd: 0.586766 target range: 33.660172 and range: 33.80 m.h}P6?hy*hy"hyԁ hygfffdddjdZd-@ibBɢx) |i )   i =g;ieP6?e^`BBIB[BB =Bf,3o'?A6>6%?64"ٱ6\M >AHRS rotation from veh to nav: [[0.787677,-0.565893,-0.243576],[0.595551,0.800613,0.065854],[0.157743,-0.196933,0.967644]]6H 4?`{-Ͽ??۰? 0?5ɿ?i6>I6^;4YF [ByFIbDRVDRyVd=%Va=ٔZ:Q-Z>9\Y\=^[Fy^dD^".Eb>`Q 5fi4bX?Q 9fi4bw)b@BYhyj ?Q Ij?b*CIba;ib;bҘi4ynBɮrArEjh DNOT Ignoring new targets: 33.66 m.bh Rh:Zh:% ProNav: ac range: 33.660172 m, nav range: 21.438181 m, bearing: 37.711333 deg, approach rate: -0.619934 m/s, LOS rate: 0.067634 deg/s, cmd heading: 33.619229 deg, new cmd heading: 33.693032 deg. Bh%9;-HeadingCmd: 0.588054 target range: 33.660172 and range: 33.80 m.h-?h)*h)"h) h)g)f1f1f1d9d9d9jd9ZdE1.@bBɢ) i1)111i5ħ;i=?E$Թ  checking for new query: numPingsReceived=3, elapsed TxPingTime=59.937099CJ,z7A?A2 >>2u$?2 !ٱ2vN :AHRS rotation from veh to nav: [[0.790757,-0.561872,-0.242905],[0.591732,0.803231,0.068355],[0.156702,-0.197787,0.967639]]2HM?Ͽx? ?`??@Qɿ?i2 >>I2x^;2CYB([ByBIbDJVDJfPyVl=%VK=ٔZ+;Q-Z>9XYX=Z[Fy^lD^/JE^>`Q 5fi4b)j?Q 9fi4b t)bABYhyj?Q Ij?b*CIb:ib:bi4ylɮnkApjh DNOT Ignoring new targets: 33.66 m.bh Rh :Zh :% ProNav: ac range: 33.660172 m, nav range: 21.188448 m, bearing: 37.742253 deg, approach rate: -0.620270 m/s, LOS rate: 0.077702 deg/s, cmd heading: 33.693033 deg, new cmd heading: 33.786886 deg. Bh%MU;%HeadingCmd: 0.589692 target range: 33.660172 and range: 33.80 m.h-?h)*h)"h) h)g)f)f1f1d1d1d9jd9Zd= Q_/@ebBɢmZ )i mii)iqqiux;iu?<6[=I?II=fA)=gA@ @@/@E EE+E"E7;*EǙ:VE [4ZEa@a@a@a@checking for new query: numPingsReceived=3, elapsed TxPingTime=60.189182^AԘ=I9IIOe>! B \>B 2\#?2&[ ٱ2YO :AHRS rotation from veh to nav: [[0.793381,-0.558389,-0.242380],[0.588408,0.805499,0.070342],[0.155958,-0.198426,0.967628]]2H`c?SLϿI2n^;2CYjF[ByjIlnA|ieMb@Mb@Mb@aaaa a9eX9v?/$ rh?Ye?yeeC9Y=[FyuD"E>Q 5i4D|?Q 9i4p):ABY?Q E:y?Q I?2+CI:i<:i4yBɮ@AjhDNOT Ignoring new targets: 33.66 m.bhRh:Zh: ProNav: ac range: 33.660172 m, nav range: 20.926693 m, bearing: 37.777319 deg, approach rate: -0.605575 m/s, LOS rate: 0.082141 deg/s, cmd heading: 33.786887 deg, new cmd heading: 33.893401 deg. Bh}a;HeadingCmd: 0.591551 target range: 33.660172 and range: 33.80 m.ho?h*h"h h g f f fd]checking for new query: numPingsReceived=3, elapsed TxPingTime=60.440968ddjdZd`n"0@bBɢ) i)iѡ;io?Xo<y=Io?I)eP@a @a@e/@a^A="=IIOa>QE  E E )E "E ;*E h:VE FA4ZE BE m2."?2}ٱ2P :AHRS rotation from veh to nav: [[0.796183,-0.554388,-0.242379],[0.584820,0.807845,0.073293],[0.155172,-0.200103,0.967409]]2HSz?IϿ`ٶ?`?Uò??ɿ?i2>I2^;2CY^`[BybIbDjVDjN2yr=%rU=ٔrA;Q-v>9tYt=v[Fyv|DzEEz>|Q 5i4~X?Q 9i4~l)~hABYy?Q I ?~m+CI~;i~$:~]i4yBɮAE5B*** querying acoustic contact ***i1 i1YjhDNOT Ignoring new targets: 33.66 m.bhRh%:Zh%: ProNav: ac range: 33.660172 m, nav range: 20.695000 m, bearing: 37.812022 deg, approach rate: -0.571891 m/s, LOS rate: 0.086615 deg/s, cmd heading: 33.893400 deg, new cmd heading: 33.998673 deg. Bhm; HeadingCmd: 0.593389 target range: 33.660172 and range: 33.80 m.h T?h *h"h hgfffddd!jd!Zd%0@McBɢM1 )Q UiQ)QYYi]u;ieT?e\,zȐ?A2A>2f ?2ٱ2pR :AHRS rotation from veh to nav: [[0.799071,-0.550308,-0.242171],[0.581116,0.810237,0.076282],[0.154238,-0.201684,0.967230]]2H@?@ wο?w?7?`?ɿ?i2A>I2c^;2CYB[ByBI`iMb@Mb@Mb@ 9+?{GzX9v?Y?y#<A XA)nAYfAbDVD yƤ=%1=ٔ<;Q->9Y=[FyDy(E>Q 5i4?Q 9i4Jh)ABY?Q E:y?Q I?+CI/:i|4;i4y֓BɮKAEjhDNOT Ignoring new targets: 33.66 m.bhRh:Zh:- ProNav: ac range: 33.660172 m, nav range: 20.412573 m, bearing: 37.841233 deg, approach rate: -0.641573 m/s, LOS rate: 0.067275 deg/s, cmd heading: 33.998674 deg, new cmd heading: 34.087519 deg. Bh-8;5HeadingCmd: 0.594939 target range: 33.660172 and range: 33.80 m.h5M?h1*h1"h1 h9gfffdddjdZd0@GcBɢBM[>BIBMGIBM[BBIBIBIBM,;BM=EB=CB=CBBß =Bß =C 5)q uiq)yyyi};iM?n<OP=IM?Ichecking for new query: numPingsReceived=3, elapsed TxPingTime=61.4519509>i%> P@  @ @ 4@ @ =@ =I ^A Jc=A I I O >q,˫?ALv>v^?v{ٱvS  AHRS rotation from veh to nav: [[0.801880,-0.546400,-0.241736],[0.577491,0.812569,0.078973],[0.153276,-0.202927,0.967123]]vH`?`|5οz??7??ɿ?iv>Ivd^;tY-[By-IbDUVDUβyubo=%uE=ٔu;Q-}>9yYy=}[Fy}D7E>Q 5i4?Q 9i4nd)ABYyX?Q I?+CI;i;i4yړBɮ,AE EE,E"E;*EVEg4ZEBEeҧ,`#˟?A^>^ԡ?^ٱ^U AHRS rotation from veh to nav: [[0.806887,-0.539521,-0.240519],[0.570883,0.816835,0.082898],[0.151739,-0.204197,0.967098]]ԡEu EuEu*Eq"Eu;*Euk:VEu(N4ZEqa@a@a@a@^H?CRο`D? #?8?1l?@"#ʿw?i^>I^N^;^CY[By6Ichecking for new query: numPingsReceived=3, elapsed TxPingTime=62.205067iMb@Mb@Mb@ 9-?{Gzt?ˡE?Y5?yף;'=nAA A)AYAbDVDNy=%=ٔ2;Q->9 ?Y ?=[FyD,qE>Q 5i4eȘ?Q 9i4_)(BBY?Q E :y I#?Q I ?N,CI:i:i4yɮAjh9EDNOT Ignoring new targets: 33.66 m.bhARhE}<:ZhE}<:U ProNav: ac range: 33.660172 m, nav range: 19.815126 m, bearing: 37.894434 deg, approach rate: -0.604950 m/s, LOS rate: 0.041197 deg/s, cmd heading: 34.179049 deg, new cmd heading: 34.249457 deg. Bh]/:]HeadingCmd: 0.597766 target range: 33.660172 and range: 33.80 m.h].?ha*ha"ha hagafafifididdjdZd`1@%cBɢ%)! %i!)iiiim=;iu.?ug#BByIBK\BB =BBB.;B=E@ @@ 5@ ^AC;=A>A>A) I1 IA OU >u checking for new query: numPingsReceived=3, elapsed TxPingTime=62.457184! ,䟻?A2>2?23ٱ2S :AHRS rotation from veh to nav: [[0.809200,-0.536886,-0.238641],[0.567886,0.818877,0.083347],[0.150670,-0.202965,0.967524]]2H? +.ˋο@,?<4?9V?&I?ɿ?i2>I2q^;2CYv\ByvYIbDVDy8>%=ٔe;Q-?9Y=[FyD% KE%?)Q 55j4-՘?Q 95j4-\)-QBBY1y5H"?Q I5?-~,CI-:i-;-j4yEߓBɮEOAEEjhimDNOT Ignoring new targets: 33.66 m.bhiRhu`:Zhu`: ProNav: ac range: 33.660172 m, nav range: 19.628386 m, bearing: 37.909408 deg, approach rate: -0.605101 m/s, LOS rate: 0.048983 deg/s, cmd heading: 34.249458 deg, new cmd heading: 34.294807 deg. Bhw;HeadingCmd: 0.598557 target range: 33.660172 and range: 33.80 m.h ;?h*h"h hgfffdddjdZdA2@cBɢ!) i)i;i ;?sC<T =I ;?I!O@ @@/@@@AE EE)E"E;*EB:VEFA4ZEBEpԙ ,?A2r>2?2ٱ2P :AHRS rotation from veh to nav: [[0.810629,-0.535830,-0.236147],[0.566102,0.820235,0.082119],[0.149694,-0.200252,0.968241]]2H@?%:ο?\???/)?ڡɿ?i2r>I2e^;2CYB,\ByBfI DDbDJVDJ1yVxY=%VQ=ٔV%;Q-V>9Z"?YZ"?=Z[FyZDZE^>`Q 5fj4b/嘊?Q 9fj4brX)bBBYhyj!?Q Ij?b,CIb:ibR:bWj4ylɮn$Ap~B*** querying acoustic contact ***i| i|jh  DNOT Ignoring new targets: 33.66 m.bh Rhy:Zhy:% ProNav: ac range: 33.660172 m, nav range: 19.391747 m, bearing: 37.930543 deg, approach rate: -0.604399 m/s, LOS rate: 0.054641 deg/s, cmd heading: 34.294807 deg, new cmd heading: 34.358987 deg. Bh%;-HeadingCmd: 0.599677 target range: 33.660172 and range: 33.80 m.h-v?h1*h1"h1 h1g1f1i9I9Echecking for new query: numPingsReceived=3, elapsed TxPingTime=62.961487fIfIdIdIdIjdQZdU2@]dBɢ]r )Y ]iY)aaaieQ;imv?msfDzDAAE EE*E"E;*EP:VE(N4 checking for new query: numPingsReceived=3, elapsed TxPingTime=63.231361ԉ ZEa @a @a @a @ B% Y>B! B% IB% \BB! B! B! B% /;B! ,?A2;>2t?2uٱ2HN :AHRS rotation from veh to nav: [[0.812097,-0.534631,-0.233814],[0.564260,0.821595,0.081189],[0.148695,-0.197866,0.968886]]2H?Ϳj?J?ȴ?k?Sɿ@?i2;>I2Ws^;2CYbh\BybIa@a iMb@Mb@Mb@ 9NbX9?X9v?/$?Y%?y<,=A MA)nAIbDVDf?y >% 6=ٔd;Q->9Y=[FyD E%>!Q 5-j4%?Q 9-j4%S)%BBY5+&?Q E5:y5+?Q I5?%-CI% ;i% ;% j4yEBɮEAEEjhimDNOT Ignoring new targets: 33.66 m.bhiRhu]Zhu] ProNav: ac range: 33.660172 m, nav range: 19.106085 m, bearing: 37.925186 deg, approach rate: -0.636057 m/s, LOS rate: -0.012106 deg/s, cmd heading: 34.358987 deg, new cmd heading: 34.342675 deg. BhHeadingCmd: 0.599393 target range: 33.660172 and range: 33.80 m.hq?h*h"h hgfffdddjdZd3@2dBɢ)I M=iI)QQQiU;i]q?]<] bE%(N4jE%U4rE%p/E  E E E "E ;*E :VE ZE BE $dRP?R&ٱR&mK ^AHRS rotation from veh to nav: [[0.813227,-0.533959,-0.231406],[0.562881,0.822672,0.079848],[0.147735,-0.195189,0.969575]]RH?1Ϳ?SS?`p??ȿ ?iRO>IR_^;RCY\ByIbD-VD-ky]=%eV=ٔe&;Q-e>9aYi=m[FymDmkEm>qQ 5}j4u$?Q 9j4uO)uBBYy*?Q I?uB-CIu;iuE:u^+j4yۓBɮCAEjhDNOT Ignoring new targets: 33.66 m.bhRhZh] ProNav: ac range: 33.660172 m, nav range: 18.863611 m, bearing: 37.921956 deg, approach rate: -0.626693 m/s, LOS rate: -0.008456 deg/s, cmd heading: 34.342676 deg, new cmd heading: 34.332861 deg. Bh]eHeadingCmd: 0.599221 target range: 33.660172 and range: 33.80 m.hef?ha*ha"ha hagifififidddjdZd3@i颅bdBɢ?) i)顩i ;if?Ř<֛ b,:L?APrB>r.?rZٱr0I -AHRS rotation from veh to nav: [[0.813711,-0.534093,-0.229389],[0.562442,0.823077,0.078753],[0.146744,-0.193100,0.970144]]rH ?J\Ϳ ?V?`')?~?ȿj ?irB>IrJ^;pYe\BymII<)4<bDVDf?yEq=%M==E EE-E"E;*E:VEt4ZEa@a@a@a@checking for new query: numPingsReceived=3, elapsed TxPingTime=64.229713ٔ- ;Q-5>91Y1=5[Fy5D=E=>AQ 5Mj4E?Q 9Mj4EK)E3CBYQyU`*?Q IU?E-CIE;iE;E;j4y]ߓBɮ] AYjhDNOT Ignoring new targets: 33.66 m.bhRhOZhO ProNav: ac range: 33.660172 m, nav range: 18.569113 m, bearing: 37.918624 deg, approach rate: -0.638353 m/s, LOS rate: -0.007339 deg/s, cmd heading: 34.332861 deg, new cmd heading: 34.322704 deg. Bh+ HeadingCmd: 0.599044 target range: 33.660172 and range: 33.80 m.h Z?h *h "h  hgfffdddjdZd%3@颕dBɢ*) Ci)顙ic;iZ?<BBIB]BBBBB;Bk=EY@Y @Y@e/@a! ^A L,f?A2>2ԭ?2ٱ2E :AHRS rotation from veh to nav: [[0.814189,-0.534724,-0.226202],[0.562069,0.823568,0.076253],[0.145518,-0.189226,0.971091]]2H@ ?u-̿x?Z?X?T?8ȿ.?i2>I2d^;2CYB\ByBI|aa iMb@Mb@Mb@ 9v/?Zd;O?~jt?Yx)?yj<==bA A)AYAbD5VD51yE=%E\=ٔEm;Q-E?9IYI=M[FyMDMEU?QQ 5j4U3*?Q 9j4U\G)U^CBY(*?Q E:yA/?Q I?U-CIUA;iU:UyGj4y ɮ ŕAjhY]DNOT Ignoring new targets: 33.66 m.bhYRheJZheJ ProNav: ac range: 33.660172 m, nav range: 18.346458 m, bearing: 37.902781 deg, approach rate: -0.615159 m/s, LOS rate: -0.044302 deg/s, cmd heading: 34.322705 deg, new cmd heading: 34.274600 deg. Bh;HeadingCmd: 0.598205 target range: 33.660172 and range: 33.80 m.h#?h*h"h hgfffdddjdZdmP4@edBɢe)i mi)顱i9$;i#?<"[>,?A6 >6?6Yٱ6A BAHRS rotation from veh to nav: [[0.814227,-0.535752,-0.223616],[0.562247,0.823664,0.073865],[0.144611,-0.185870,0.971874]]6H@&?$@t̿`?t[???ǿ ?i6 >I6pR^;4YF\ByJIbDRVDR:yZoE=%ZT=ٔZ;Q-Z>9\Y\=^[FybDbߪ9Eb>dQ 5jj4f:?Q 9jj4f*C)fCBYlyn>/?Q In?f.CIf;if;fTj4yrBɮrAvEB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 33.66 m.bhRhkZhk- ProNav: ac range: 33.660172 m, nav range: 18.094292 m, bearing: 37.884397 deg, approach rate: -0.697159 m/s, LOS rate: -0.051534 deg/s, cmd heading: 34.274600 deg, new cmd heading: 34.218679 deg. Bh-x 5HeadingCmd: 0.597229 target range: 33.660172 and range: 33.80 m.h5?h1*h1"h1 h1g9f9f9fAdAdAdAjdAZdM4@echecking for new query: numPingsReceived=3, elapsed TxPingTime=64.985207a颅dBɢO) i)顉i?;i?<XE EE)E"EI;*EVEFA4ZEa@a@a@a@- checking for new query: numPingsReceived=3, elapsed TxPingTime=65.239418 B T>B ;CB "IB ]]BB =B B DB ܆;B B=E&&,͙?A2">2?2ٱ2> :AHRS rotation from veh to nav: [[0.814121,-0.536800,-0.221480],[0.562606,0.823593,0.071900],[0.143813,-0.183141,0.972511]]2H G ?v-rY̿@?Z? h?xh? +qǿ?i2">I2q^;2CYN%]ByRI TTi-Mb@Mb@Mb@)))) )9-|?5^?Q?V-?Y--?y-u=-<-A) ))-A)Y-3AbDEVDE:yU=%U@=ٔU:Q->9Y=[FyDT:E>Q 5j4M?Q 9j4>)CBY.?Q E :y T3?Q I ?S.CI:i:rdj4yɮGAjh9EDNOT Ignoring new targets: 33.66 m.bhARhEźZhEź] ProNav: ac range: 33.660172 m, nav range: 17.796709 m, bearing: 37.846732 deg, approach rate: -0.672445 m/s, LOS rate: -0.086534 deg/s, cmd heading: 34.218677 deg, new cmd heading: 34.103794 deg. Bh]meHeadingCmd: 0.595223 target range: 33.660172 and range: 33.80 m.he`?ha*ha"ha hagifififidqdqdqjdyZd}X5@颥eBɢ) >i)顩i9;i`?<,"=I`?I)@) @)@1@1uchecking for new query: numPingsReceived=3, elapsed TxPingTime=65.489304^A)<I I O >I E  E E E "E a;*E :VE ZE BE h>>?>Znٱ>; nAHRS rotation from veh to nav: [[0.814326,-0.537574,-0.218833],[0.562640,0.823715,0.070211],[0.142512,-0.180298,0.973233]]>H`?`3̿&?`[?R? =?@ǿ$?i>>I>wW^;>CYvJ]ByvIbDVDβy ǹ=%O=ٔY;Q->9Y=[FyD%uE%>)Q 5-j4-0^?Q 95j4-9)-CBY1y5H3?Q I5?-.CI-:i-:-qj4yEBɮEAEEjhimDNOT Ignoring new targets: 33.66 m.bhiRhuʺZhuʺ ProNav: ac range: 33.660172 m, nav range: 17.543392 m, bearing: 37.813814 deg, approach rate: -0.672317 m/s, LOS rate: -0.088628 deg/s, cmd heading: 34.103794 deg, new cmd heading: 34.003613 deg. BhLsHeadingCmd: 0.593475 target range: 33.660172 and range: 33.80 m.h?h*h"h hgfffdddjdZd|5@=CeBɢ=Gu)9 =/i9)AAAiE!;iM?M =9 liAY kAԙ (;3,X͠?AB=N>B?BSٱBj$; NAHRS rotation from veh to nav: [[0.813912,-0.538407,-0.218323],[0.563344,0.823259,0.069916],[0.142093,-0.179896,0.973369]]BH ?:˿`?#X??0?`ǿ`%?iB=N>IB}d^;@YRv]ByV1IbDnVDn0yvP=%vL=ٔz:Q-z>9xY|=~[Fy~D~;E~>Q 5 j4o?Q 9 j4@5)DBYy|3?Q I?.CIz1 b9,5^砻?A2>2?2kٱ2: :AHRS rotation from veh to nav: [[0.813734,-0.538905,-0.217756],[0.563742,0.822987,0.069914],[0.141533,-0.179650,0.973496]]2H ?`>@n˿+ ?U? ??ƿ&?i2>I2׋^;2CYb]BybIIIf=)f=iMMb@Mb@Mb@IIII I9MCl?L7A`?y&1?YM/?yM+=M`e9Y=[FyDρ:E> Q 5j4 ?Q 9j4 )0) JDBY0?Q E:yj4?Q I? %/CI ;i /; j4y%Bɮ%{A-Ejhi}DNOT Ignoring new targets: 33.66 m.bhyRh Zh  ProNav: ac range: 33.660172 m, nav range: 16.976189 m, bearing: 37.731340 deg, approach rate: -0.794434 m/s, LOS rate: -0.123996 deg/s, cmd heading: 33.891706 deg, new cmd heading: 33.752065 deg. Bh1HeadingCmd: 0.589085 target range: 33.660172 and range: 33.80 m.hA?h*h"h hgfffdddjdZdV6@I颽eBɢ) i)iv;iA? <f=IA?IE EE+E"E;*Ek:VE [4ZEBEa}J@,m8?A2?>2.7?2ٱ2d9 :AHRS rotation from veh to nav: [[0.813580,-0.539706,-0.216346],[0.564170,0.822763,0.069091],[0.140713,-0.178267,0.973869]]2H?DE`=˿@ ?T??@? tƿ )?i2?>I2<^;2C@YZ]ByZSIbDfVDfyn *=%nT=ٔr ;Q-r>9pYp=v[FyvDvW:Ev>xQ 5~j4zӒ?Q 9~j4z+)zoDBYy4?Q I?zf/CIz;iz;zj4y Bɮ NA E-B*** querying acoustic contact ***i) i)jh9Echecking for new query: numPingsReceived=3, elapsed TxPingTime=67.001259MDNOT Ignoring new targets: 33.66 m.bhIRhMZhMe ProNav: ac range: 33.660172 m, nav range: 16.724972 m, bearing: 37.691168 deg, approach rate: -0.688884 m/s, LOS rate: -0.111814 deg/s, cmd heading: 33.752066 deg, new cmd heading: 33.629740 deg. BheyeHeadingCmd: 0.586950 target range: 33.660172 and range: 33.80 m.hmVB?hi*hi"hi higififqfqdqdqdyjdyZd}`ı6@颭eBɢ) i)顱it;iVB?Կ<gb&=IVB?IUP@Q @Q@U4@Qԩ^A}=II!OM>E EE)E"E;*E:VEFA4ZEa@a@a@a@ checking for new query: numPingsReceived=3, elapsed TxPingTime=67.255554 Bm U>Bi Bm IBm ^BBi Bi Bm DBm ֆ;Bm ==EtF,<?A2 >2\?2:ٱ28 :AHRS rotation from veh to nav: [[0.813356,-0.540485,-0.215239],[0.564708,0.822420,0.068774],[0.139846,-0.177485,0.974137]]2H@? K˿? DQ?0?u?ַƿ ,?i2 >I2S_;2CYb]ByblIliMMb@Mb@Mb@IIII I9MV-?L7A`?{Gz?YM-?yIM#9Y=[FyDa:E> Q 5 j4 ץ?Q 9j4 &) DBYh.?Q E:y4?Q I? /CI  ;i  ; j4y!ɮ%A!jhIMDNOT Ignoring new targets: 33.66 m.bhIRhUZhUe ProNav: ac range: 33.660172 m, nav range: 16.428808 m, bearing: 37.641476 deg, approach rate: -0.674517 m/s, LOS rate: -0.115215 deg/s, cmd heading: 33.629741 deg, new cmd heading: 33.477977 deg. Bhe$mHeadingCmd: 0.584301 target range: 33.660172 and range: 33.80 m.hm?hi*hi"hi higqfqfyfydydydyjdZd!7@颭fBɢ\ ) i)顱i:R;i?<r 1=I?II) -O@) @1@54@1@9@9echecking for new query: numPingsReceived=3, elapsed TxPingTime=67.5075301^AUK'=IIO >a E  E E *E "E ;*E :VE (N4ZE BE e2$?2z&ٱ27 :AHRS rotation from veh to nav: [[0.813102,-0.541153,-0.214518],[0.565199,0.822114,0.068406],[0.139340,-0.176867,0.974322]]2H`?!QWu˿`?N??`?`ƿ`-?i2*U>I2\_;0Y~]By~rI bDVDy%<%%P=ٔ%+:Q-->9)Y)=-[Fy- D5:E5>99Q 5Ej4=6?Q 9Mj4=t")=DBYIyM4?Q IM?=/CI= :i=:=Qj4yUBɮ]A]EjhDNOT Ignoring new targets: 33.66 m.bhRhf Zhf  ProNav: ac range: 33.660172 m, nav range: 16.173748 m, bearing: 37.596722 deg, approach rate: -0.673983 m/s, LOS rate: -0.120124 deg/s, cmd heading: 33.477978 deg, new cmd heading: 33.341599 deg. Bh᤻HeadingCmd: 0.581921 target range: 33.660172 and range: 33.80 m.h?h*h"h hgfffdddjdZd7@,fBɢ) i)iB;i?c<:=I?I i@ @@2@}checking for new query: numPingsReceived=3, elapsed TxPingTime=68.013496ԑ ^A 3=A5 .AI9 IQ O] > T,'P?AHRB>R?R_ٱR6 AHRS rotation from veh to nav: [[0.812839,-0.541967,-0.213460],[0.565762,0.821764,0.067946],[0.138589,-0.175997,0.974586]]RH@? WR˿?K?d?G?ƿ`/?iRB>IR_;RCYE]BDU%=DU=Eu EuEqEq"Eu1;checking for new query: numPingsReceived=3, elapsed TxPingTime=68.267021*Euk:VEqZEqa-@a-@a-@a-@yEIi}Mb@Mb@Mb@yyyy y9}(\?i|?5?Y}.?y}q=}}Ay y)}AyY}AbDVD1y^g=%=ٔ9:Q->9 ?Y ?=[FyD:E>ԹQ 5j4 ͙?Q 9j4)DBY.?Q E:y1?Q I?M0CI<:i:~j4yɮAAA@ABV>B$qZ,k?AH > ? W ٱ 26 %AHRS rotation from veh to nav: [[0.812676,-0.542558,-0.212576],[0.566150,0.821525,0.067611],[0.137953,-0.175296,0.974803]] Hq?\`5˿ ?I?N?t? pƿ`1?i >I %_; CY=^By=IbDUVDUk1ye!=%em=ٔe:Q-e?9m"?Ym"?=m[FymDuŝ:Eu?yQ 5j4}&ܙ?Q 9j4}Q =tI)}EBYy1?Q I?}0CI}:i}:}j4yBɮAjhDNOT Ignoring new targets: 33.66 m.bhRh8Zh8 ProNav: ac range: 33.660172 m, nav range: 15.588479 m, bearing: 37.515245 deg, approach rate: -0.686247 m/s, LOS rate: -0.099762 deg/s, cmd heading: 33.194166 deg, new cmd heading: 33.092460 deg. BhHeadingCmd: 0.577572 target range: 33.660172 and range: 33.80 m.h?h*h"h hgfffdddjdZd`_8@fBɢp$)%R#< %oi!)!!!i%э;i ? vA< L=I ?IԩbEijEmR4rEmÝ/E EE,E"EO;*E':VEg4ZEBE,Y checking for new query: numPingsReceived=3, elapsed TxPingTime=69.021111WTa,}?A:>:[?: ٱ:5 JAHRS rotation from veh to nav: [[0.812836,-0.542632,-0.211773],[0.566104,0.821543,0.067782],[0.137200,-0.174981,0.974966]]:H?=]b˿?J?(Z?`ŏ?@eƿ2?i:>I:/_;:CYR=^ByRIIV%=)V<bD^ VD^2yf=%fU=ٔf;Q-f>9j ?Yj ?=j[Fyj$DnಹEn>lpQ 5vj4r왊?Q 9vj4r9)r(EBYxyz1?Q Iz?r0CIr:ir:rj4y|ɮSAB*** querying acoustic contact ***i ijh)-DNOT Ignoring new targets: 33.66 m.bh)Rh5Zh5E ProNav: ac range: 33.660172 m, nav range: 15.328577 m, bearing: 37.476950 deg, approach rate: -0.676363 m/s, LOS rate: -0.101348 deg/s, cmd heading: 33.092461 deg, new cmd heading: 32.975628 deg. BhEMHeadingCmd: 0.575533 target range: 33.660172 and range: 33.80 m.hM&V?hI*hI"hI hQgQfQfQfYdYdYdYjdaZdeH8@ fBɢ l)  Ai )i5;i=&V?=<=qR=I=&V?IA P@ @@/@DzD?AE EE+E"E;*E:9VE [4ZEaM@aM@aU@aU@checking for new query: numPingsReceived=3, elapsed TxPingTime=69.275833^Au\J=B U>B B IB ^BB =B B B ֆ;B <=Ea A I I O >g~g,]n?AY~^^By~I9iMb@Mb@Mb@ 9m?+?{GztY.?y=ף=A~A ̗A)AYAbDVDky=%;=ٔQ->9Y=[Fy-DE>Q 5j4?Q 9j4o)LEBY.?Q E:y)?Q I?1CI:iC:-j4yBɮAEjh!%DNOT Ignoring new targets: 33.66 m.bh!Rh-Zh-= ProNav: ac range: 33.660172 m, nav range: 15.033092 m, bearing: 37.466170 deg, approach rate: -0.678610 m/s, LOS rate: -0.025243 deg/s, cmd heading: 32.975627 deg, new cmd heading: 32.942653 deg. Bh=EHeadingCmd: 0.574958 target range: 33.660172 and range: 33.80 m.hEn0?hA*hA"hA hAgAfIfIfIdQdQdQjdQZd]@19@颅fBɢ+) P i)顉i;in0?J<rm,(I?A2*>2k?2ڭ ٱ26 :AHRS rotation from veh to nav: [[0.813668,-0.541756,-0.210821],[0.565202,0.822070,0.068899],[0.135983,-0.175217,0.975094]]2H ? V*ʿ`#?eN? ^? g?`mƿ3?i2*>I2o^;2CYvn^ByvIbD~VD~0y 0=% W=ٔ S;Q->9"?Y"?=[Fy4DySE>!Q 5-k4%?Q 9-k4%D )%lEBY)y-)?Q I5?%Y1CI%B:i%[:%uk4y=Bɮ=A9jhaeDNOT Ignoring new targets: 33.66 m.bhiRhmйZhmй} ProNav: ac range: 33.660172 m, nav range: 14.775318 m, bearing: 37.457652 deg, approach rate: -0.678559 m/s, LOS rate: -0.022815 deg/s, cmd heading: 32.942651 deg, new cmd heading: 32.916651 deg. Bh}zHeadingCmd: 0.574504 target range: 33.660172 and range: 33.80 m.h?h*h"h hgfffddԙdjdZd,9@ gBɢ)  i)i;i?m<|5Q=I?Ichecking for new query: numPingsReceived=3, elapsed TxPingTime=70.029800:@ @@/@@@hA! ^A gW=E5  E5 E5 ,E1 "E5 a;*E5 B:VE5 g4ZE1 a] @a] @a] @a] @ checking for new query: numPingsReceived=3, elapsed TxPingTime=70.287926A IQIO>Fu,"4ء?AZ>Z?Z ٱZ"8BfS>Bf;CBf IBf^BBdBdBdBfΆ;Bf2=E rAHRS rotation from veh to nav: [[0.814397,-0.540083,-0.212291],[0.564147,0.822571,0.071521],[0.135997,-0.178010,0.974586]]ZH ?@[H^,˿} ?R?7O?@]h? ƿ /?iZ>IZM^;ZCYz^ByzI ||i}Mb@Mb@Mb@yyyy y9}HzG?/$?Y}=*?y},=}}A}{A }zA)yyY}GA@A@AbDVD1y]=%"=ٔ(Q->9Y=[Fy?D(E>Q 5k4'?Q 9k4)EBY*?Q E:y+?Q I?1CIP ;i ;k4yɮAjhy}DNOT Ignoring new targets: 33.66 m.bhyRh-Zh- ProNav: ac range: 33.660172 m, nav range: 14.443174 m, bearing: 37.438421 deg, approach rate: -0.640569 m/s, LOS rate: -0.037941 deg/s, cmd heading: 32.916652 deg, new cmd heading: 32.857633 deg. BhOкԹHeadingCmd: 0.573474 target range: 33.660172 and range: 33.80 m.h/?h*h"h hgfffdddjdZd@#:@E_gBɢESS )A MO iI)IIIiMQ;iu/?u<}CP=I}/?Iychecking for new query: numPingsReceived=3, elapsed TxPingTime=70.537048h%< U P@Y  @Y @] 4@Y A ^A P=E  E E )E "E ;*E :VE FA4ZE BE v>>?>Ig ٱ>1; FAHRS rotation from veh to nav: [[0.815246,-0.538330,-0.213482],[0.562988,0.823118,0.074313],[0.135716,-0.180772,0.974116]]>H~?9dS˿`?V? 3?%_?`#ǿ +?i>>I>.^;>CYN^ByNIbDVVDVy^3=%b&=ٔb :Q-b>9dYd=f[FyfIDf@Ef>lQ 5rk4nQ=?Q 9rk4n)nEBYpyv*?Q Iv?n2CIn|:in:nE#k4yzoBɮzzAzEjh%DNOT Ignoring new targets: 33.66 m.bh!Rh%.Zh%.5 ProNav: ac range: 33.660172 m, nav range: 14.116833 m, bearing: 37.420613 deg, approach rate: -0.683298 m/s, LOS rate: -0.038149 deg/s, cmd heading: 32.857632 deg, new cmd heading: 32.802973 deg. Bh=sѺ=HeadingCmd: 0.572520 target range: 33.660172 and range: 33.80 m.h=?hA*hA"hA hAgAfAfIfIdIdIdQjdQZdU:@}gBɢv) gi)顁i^ɒ;i?<syO=I?Iԩ%checking for new query: numPingsReceived=3, elapsed TxPingTime=71.042015 O@ @@4@G-~91Y5)hA ^AU Q=) E5  E5 E5 2E1 "E5 x;*E5 ':VE5 4ZE1 a= @a= @a= @a= @A .AI  checking for new query: numPingsReceived=3, elapsed TxPingTime=71.295609I O>,al?A)BUR>BQBUA IBU1_BBU =BQBUDBU;BU j? SS ٱ ? AHRS rotation from veh to nav: [[0.817317,-0.534456,-0.215290],[0.559996,0.824773,0.078445],[0.135641,-0.184676,0.973394]] H@u'?C˿{?`d?? \?uǿ &?i >I We^; CYM^ByMIIUC=)U=iMb@Mb@Mb@ 9x&?Mb?{Gzt?Y7)?y=ף;A~zA A)VAYAbDVDNy-cI=%-=ٔ-9Q-->95 ?Y5 ?=5[Fy5SD=ܻE=>AQ 5Mk4EEU?Q 9Mk4E)EEBYMk)?Q EU:yUk&?Q IU?E]2CIE:iE:EL6k4ytBɮZAEB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 33.66 m.bhRh9Zh9% ProNav: ac range: 33.660172 m, nav range: 13.759752 m, bearing: 37.425127 deg, approach rate: -0.640818 m/s, LOS rate: 0.008311 deg/s, cmd heading: 32.802974 deg, new cmd heading: 32.816867 deg. Bh%9-HeadingCmd: 0.572762 target range: 33.660172 and range: 33.80 m.h-?h)*h)"h) h)Qg)fqfqfqdydydyjdyZd}`#;@gBɢ)i mii)iiqiua;iu?}<}A=I}?IyI ) Mchecking for new query: numPingsReceived=3, elapsed TxPingTime=71.545815y@ @@4@ԉԱ ^AE ;O=Au ؟AI I O >e,3?A65>6(M?6d ٱ6s@ >AHRS rotation from veh to nav: [[0.818353,-0.532732,-0.215628],[0.558465,0.825711,0.079481],[0.135704,-0.185464,0.973236]]6H /?`$ ˿ ?:l?X?`^?@Iǿ$?i65>I6٪^;6CYF^ByF IbDRVDRyZ=E^ E^E^.E\"E^1;*E^5:VE^ـ4ZE\BE^k9="?Y="?==[Fy=[D=LEE>A]checking for new query: numPingsReceived=3, elapsed TxPingTime=71.797188Q 5mk4Ef?Q 9uk4E)EFBYqyu%?Q Iu?E2CIE;iE.;ECk4yyɮAjhDNOT Ignoring new targets: 33.66 m.bhRh9Zh9 ProNav: ac range: 33.660172 m, nav range: 13.509658 m, bearing: 37.430411 deg, approach rate: -0.663942 m/s, LOS rate: 0.014286 deg/s, cmd heading: 32.816866 deg, new cmd heading: 32.833011 deg. Bh: HeadingCmd: 0.573044 target range: 33.660172 and range: 33.80 m.h ?h)*h)"h) h)g1f1f1f1d9d9d9jd9Zd=/;@- hBɢ-))) -i))111i5yJ;i=?=[m<=S;=I=?I9aP@ @@/@^Ag@=ԑAII!O-> checking for new query: numPingsReceived=3, elapsed TxPingTime=72.049095Թ sH,M?A2>2n?2u ٱ2DA >AHRS rotation from veh to nav: [[0.819197,-0.531304,-0.215944],[0.557161,0.826539,0.080029],[0.135966,-0.185875,0.973121]]2H6?q ˿D?s?`|?Vg? ǿ#?i2>I2^;2CYB^ByF IPbDNVDNN2yV=%VK=ٔZ3Q-Z>9XY\=^[Fy^cD^턻Eb>`Q 5fk4bw?Q 9jk4b)b7FBYhyj%?Q Ij?b2CIb:ib:b!Qk4ynzBɮrArEjh DNOT Ignoring new targets: 33.66 m.bh RhN9ZhN9% ProNav: ac range: 33.660172 m, nav range: 13.256249 m, bearing: 37.437683 deg, approach rate: -0.669953 m/s, LOS rate: 0.019595 deg/s, cmd heading: 32.833010 deg, new cmd heading: 32.855245 deg. Bh%+W:-HeadingCmd: 0.573432 target range: 33.660172 and range: 33.80 m.h-t?h)*h)"h) h)g)f1f1f1d1ddjdZd ;@7hBɢS*) i)i5B;it?<:4=It?IO@E EE,E"E;*E:VEg4ZEa@a@a@a @ @@/@checking for new query: numPingsReceived=3, elapsed TxPingTime=72.303780BQ>BBg IBn_BB =BBBl;B checking for new query: numPingsReceived=3, elapsed TxPingTime=72.553070Wr,Ag?A2'>2c?2 ٱ2B :AHRS rotation from veh to nav: [[0.820282,-0.529441,-0.216399],[0.555508,0.827555,0.081014],[0.136191,-0.186666,0.972938]]2H?? /˿? U{?`M?n?ǿN"?i2'>I2 ^;0YF_ByF- I|imMb@Mb@Mb@iiii i9mJ +?L7A`?:v?Ym(?ym+=mT9 ?Y ?=[FylD͖E>Q 5k4 ?Q 9k4_)bFBY(?Q E:y&?Q I?'3CIa;i;H`k4ypBɮA|Ejh%DNOT Ignoring new targets: 33.66 m.bh!Rh-{9Zh-{9 ProNav: ac range: 33.660172 m, nav range: 12.973144 m, bearing: 37.443593 deg, approach rate: -0.644611 m/s, LOS rate: 0.013748 deg/s, cmd heading: 32.855245 deg, new cmd heading: 32.873360 deg. Bh:HeadingCmd: 0.573748 target range: 33.660172 and range: 33.80 m.h,?h*h"h hgff f d1d1d1jd9Zd=Y<@颅ohBɢ) i)iD;)i5,?5 <5w-=I5,?I9}P@y @y@}/@yE EE*E"EC#;*E:VE(N4ZEBE{,Y܂?A2m>2Z ?2 ٱ2B JAHRS rotation from veh to nav: [[0.821000,-0.528156,-0.216817],[0.554419,0.828196,0.081921],[0.136300,-0.187465,0.972769]]2HE?`˿@ͽ??`?Er?ǿ` ?i2m>I2#^;2CYR5_ByRD IXbD^VD^kyf=%fL=ٔjQ-j>9j"?Yn"?=n[FyntDnWEn>pQ 5vk4r?Q 9vk4r;)rFBYxyz%?Q Iz?ri3CIr;irL;r@nk4y~vBɮ~pA}Ejh!-DNOT Ignoring new targets: 33.66 m.bh)Rh59Zh59E ProNav: ac range: 33.660172 m, nav range: 12.712157 m, bearing: 37.450812 deg, approach rate: -0.662051 m/s, LOS rate: 0.018688 deg/s, cmd heading: 32.873359 deg, new cmd heading: 32.895460 deg. BhE5M:MHeadingCmd: 0.574134 target range: 33.660172 and range: 33.80 m.hMt?hI*hI"hI hIgQfQfQfQdYdYdYjdYZd] O<@颍hBɢp1) ci)顑i긝;it?oD<,(=It?I5checking for new query: numPingsReceived=3, elapsed TxPingTime=73.058006EN@A @A@E/@I ^AmS,=EE  EE EE ,EA "EE m+;*EE :VEE g4ZEA aU @aU @aU @aU @A .AI I O > checking for new query: numPingsReceived=3, elapsed TxPingTime=73.309113A Bu P>Bq Bu IBu _BBu =Bq Bq Bu G;Bu 9 ?Y ?=[Fy}DE>Q 5k4ڮ?Q 9k4)FBY+?Q E:y(?Q I?3CIv:i#:q}k4yɮLAB*** querying acoustic contact ***i ijh!-DNOT Ignoring new targets: 33.66 m.bh)Rh-JZh-J= ProNav: ac range: 33.660172 m, nav range: 12.424062 m, bearing: 37.442526 deg, approach rate: -0.662115 m/s, LOS rate: -0.019484 deg/s, cmd heading: 32.895461 deg, new cmd heading: 32.870028 deg. Bh=UEHeadingCmd: 0.573690 target range: 33.660172 and range: 33.80 m.hE]?hA*hI"hI hIgIfIfQfQdQdYdYjdYZd]&=@颅hBɢ~#) i)顉iQa;i]?`<*=I]?I O@  @ @ @ IMchecking for new query: numPingsReceived=3, elapsed TxPingTime=73.561310ԁ^AM#'=A} ؟AI I ԡ O >,u?AbEg4jEf4rEQ0E EEE"E&;*Eخ:VEZEBEFLZ?F ٱFD NAHRS rotation from veh to nav: [[0.822456,-0.525471,-0.217821],[0.552136,0.829556,0.083557],[0.136788,-0.188989,0.972405]]FHQ?@˿ ?`?d? G?0ȿ?Vchecking for new query: numPingsReceived=3, elapsed TxPingTime=73.813179iF|>IF-^;FCYZh_By^c IIbR=)b=bDfVDfynг=%u[=ỵٔQ->9"?Y"?=[FyDE>Q 5k4D?Q 9k4d)FBYy<(?Q I?3CI{;iU;5k4y|BɮA~EjhDNOT Ignoring new targets: 33.66 m.bhRhVZhV ProNav: ac range: 33.660172 m, nav range: 12.163011 m, bearing: 37.438005 deg, approach rate: -0.663660 m/s, LOS rate: -0.011740 deg/s, cmd heading: 32.870029 deg, new cmd heading: 32.856175 deg. BhHeadingCmd: 0.573448 target range: 33.660172 and range: 33.80 m.h?h*h"h hgfffd d d jd Zd=@=iBɢ=@-)9 EiA)AAAiE;iM?M `,SТ?A2Ѿ>2??2h ٱ2C :AHRS rotation from veh to nav: [[0.822697,-0.525263,-0.217413],[0.551802,0.829811,0.083238],[0.136689,-0.188449,0.972524]]2HS?@,˿@]?ύ?O?`? ȿ?i2Ѿ>I2^;2CYB_ByF IbDNVDN0yVc=%VM=ٔV9Q-Z>9XYX=Z[FyZD^\E^>`Q 5fk4bК?Q 9fk4b_)bGBYdyj (?Q Ij?b64CIb:ib:bgk4ynBɮU֒AQjhyDNOT Ignoring new targets: 33.66 m.bhRh>Zh> ProNav: ac range: 33.660172 m, nav range: 11.912714 m, bearing: 37.433995 deg, approach rate: -0.636804 m/s, LOS rate: -0.010416 deg/s, cmd heading: 32.856174 deg, new cmd heading: 32.843892 deg. BhHeadingCmd: 0.573234 target range: 33.660172 and range: 33.80 m.hx?h*h"h hgfffdddjdZd=@1iBɢ΢-) i)i;ix?<!=Ix?ID==D9EE EEEE+EA"EE);*EE:VEE [4ZEAaU@aU@aU@a]@checking for new query: numPingsReceived=3, elapsed TxPingTime=74.321190UP@Y @Y@ek1@a B%<A!B=M>B=:CB= IB=_BB= =B9B9B=+;B=,#/ꢻ?A:`>:4?:in ٱ:AB RAHRS rotation from veh to nav: [[0.822781,-0.525352,-0.216879],[0.551671,0.829980,0.082412],[0.136710,-0.187453,0.972714]]:H9T?˿`J?2???sǿ`x ?i:`>I:]^;:CYb_Byb IiMb@Mb@Mb@ 9sh|??/$?{Gz?Y)?y,=ף<A )~AYbDVDy-+=%-4=ٔ-lFQ-->911Y1==[Fy=D=ǵE=>AQ 5Mk4E䚊?Q 9Mk4E)E6GBYUf*?Q EU:yU(?Q IU?E4CIE` ;iE ;EAk4yaɮeAajhDNOT Ignoring new targets: 33.66 m.bhRh/Zh/ ProNav: ac range: 33.660172 m, nav range: 11.614427 m, bearing: 37.425441 deg, approach rate: -0.680579 m/s, LOS rate: -0.020019 deg/s, cmd heading: 32.843894 deg, new cmd heading: 32.817572 deg. Bh[HeadingCmd: 0.572775 target range: 33.660172 and range: 33.80 m.h\?h*h"h hgfffdddjdZd2`>@giBɢ &) i)i;i\?D<Y#=I\?IaO@ @@p0@EM EMEM,EI"EMm+;*EM:VEMg4ZEIBEM!,D?A2C>221?2n ٱ2B >AHRS rotation from veh to nav: [[0.822811,-0.525401,-0.216647],[0.551627,0.830045,0.082061],[0.136712,-0.187029,0.972795]]2HxT?˿??@?@?`ǿ #!?i2C>I2^;2CYB_ByF I HHNAALbDNVDNN2yVg=%Z_=ٔZAQ-Z>9Z ?Y^ ?=^[Fy^D^{E^>dQ 5fk4f?Q 9jk4f)f\GBYhyj(?Q Ij?f4CIf:ifN:f k4ynBɮrArEjh  DNOT Ignoring new targets: 33.66 m.bh RhǶZhǶ% ProNav: ac range: 33.660172 m, nav range: 11.373591 m, bearing: 37.418282 deg, approach rate: -0.658007 m/s, LOS rate: -0.019975 deg/s, cmd heading: 32.817570 deg, new cmd heading: 32.795637 deg. Bh%V[-HeadingCmd: 0.572392 target range: 33.660172 and range: 33.80 m.h-F?h)*h)"h) h)g1f1f1f1d9d9d9jd9Zd=ͽ>@miBɢm_(8)i m2ii)qqqiuJ ;i}F?}|<}Œ$=I}F?checking for new query: numPingsReceived=3, elapsed TxPingTime=75.077179IAQ@ @@4@i^AAfAzAfAԡDzDE  E E (E "E %;*E n:VE c44ZE a- @a- @a- @a- @ checking for new query: numPingsReceived=3, elapsed TxPingTime=75.331757A ؟AI1 I B J>B B IB /`BB =B B B ;B n ?,jh?A2Ӳ>2/?2}W ٱ2A :AHRS rotation from veh to nav: [[0.822831,-0.525697,-0.215849],[0.551618,0.830158,0.080969],[0.136624,-0.185690,0.973064]]2HT?˿ڦ??`a?|?ǿV#?i2Ӳ>I2];2CYB_ByF IiMb@Mb@Mb@ 9 rh?&1?~jt?Y,?yP=<3AjvA A){AYAbD-VD-:y5A=%=C=ٔ=]9Q-=>9E"?YE"?=E[FyEDMN:EM>IQ 5Uk4MX?Q 9]k4M)MGBY]-?Q E]:y]+?Q Ie?M5CIM ;iM ;Mk4yiɮm|AiB*** querying acoustic contact ***i ijh5DNOT Ignoring new targets: 33.66 m.bh1Rh=Zh=M ProNav: ac range: 33.660172 m, nav range: 11.093984 m, bearing: 37.392512 deg, approach rate: -0.643016 m/s, LOS rate: -0.060757 deg/s, cmd heading: 32.795638 deg, new cmd heading: 32.716380 deg. BhM&uHeadingCmd: 0.571009 target range: 33.660172 and range: 33.80 m.hu-?hq*hq"hy hygyfyffdddjdZdG/?@ԱiBɢ() i)i3R;i-?<)=I-?IiP@ @@ 4@ 5checking for new query: numPingsReceived=3, elapsed TxPingTime=75.585861 ^AM $=A I I O >E  E E *E "E &;*E E:VE (N4ZE BE 9aYa=e[FyeDmEm>iQ 5uk4mZ?Q 9}k4m)mGBYyyQ I?mN5CIm;imU;mk4yBɮAvEjhDNOT Ignoring new targets: 33.66 m.bhRh Zh  ProNav: ac range: 33.660172 m, nav range: 10.821189 m, bearing: 37.366086 deg, approach rate: -0.696010 m/s, LOS rate: -0.069123 deg/s, cmd heading: 32.716381 deg, new cmd heading: 32.635105 deg. Bh=HeadingCmd: 0.569590 target range: 33.660172 and range: 33.80 m.h?h*h"h hgfffdddjdZd ?@iBɢM8) %8 i!)!!!i%;i-?-<-.=I-?I1ԉO@ @@/@Թ Echecking for new query: numPingsReceived=3, elapsed TxPingTime=76.090500^AU)=GhA ׀9 hAY TjA y l? #AI I O >Q,;R?A\Y~`By~ I  bDVDy%l=%%N=ٔ!Q-%>9)Y)=-[Fy-D1E5>9Q 5Ek4=*?Q 9Ek4=P)=GBYAyAQ IE?=5CI=P;i=N:=k4yUBɮUܑAQjhy}DNOT Ignoring new targets: 33.66 m.bhyRhşZhş ProNav: ac range: 33.660172 m, nav range: 10.555952 m, bearing: 37.339082 deg, approach rate: -0.669188 m/s, LOS rate: -0.069841 deg/s, cmd heading: 32.635105 deg, new cmd heading: 32.552059 deg. Bh?HeadingCmd: 0.568141 target range: 33.660172 and range: 33.80 m.hq?h*h"h hgfffdddjdZd`?@D<D<E EE)E"Es!;*E:VEFA4ZEa@a@a@a@0jBchecking for new query: numPingsReceived=3, elapsed TxPingTime=76.342392ɢ.0) )!i)19i=p;iUq?]b<]pU3=Ieq?BI>BB IB`BB =BBDB;BXA ?q I I O >WJ,Zo?A2>2 _?2? ٱ2y> >AHRS rotation from veh to nav: [[0.822445,-0.526857,-0.214489],[0.552216,0.829974,0.078743],[0.136535,-0.183206,0.973547]]2HyQ?bt˿?&?{(?y?`Jsǿ@L'?i2>I2];2CYB2`ByF Ii Mb@Mb@Mb@     9 |?5^??~jt?Y -?y L=    pA)  Y AbD%VD%0y5?-=%=2=ٔ=M9Q-=>9AYA=E[FyEDE:EE>IQ 5k4MQ??Q 9k4MB)M HBY\.?Q E:yh+?Q I?M5CIM1 /,(?A6checking for new query: numPingsReceived=3, elapsed TxPingTime=77.097168B+>Bl?B^ ٱB=c= JAHRS rotation from veh to nav: [[0.822322,-0.527232,-0.214039],[0.552371,0.829964,0.077758],[0.136649,-0.182171,0.973725]]BHvP? e˿@??@?}?`cQǿ(?iB+>IB}];BCYna`Byr IbD VD y-=%-L=ٔ5;Q-5>91Y9==[Fy=DE:EE>IQ 5ek4MCQ?Q 9ek4Mӽ)M5HBYayet+?Q Im?M&6CIMf;iMU;Mk4y}Bɮ}AxEjhDNOT Ignoring new targets: 33.66 m.bhRhZh ProNav: ac range: 33.660172 m, nav range: 9.974864 m, bearing: 37.279143 deg, approach rate: -0.659957 m/s, LOS rate: -0.072418 deg/s, cmd heading: 32.456465 deg, new cmd heading: 32.367068 deg. BhFHeadingCmd: 0.564912 target range: 33.660172 and range: 33.80 m.h?h*h"h hgfffdddjdZd#o@@mjBɢuE5)q u#iq)qqyi}h(;i}?<A=I?I!@! @!@)@)9Em EmEm*Ei"Ems!;*Em:VEm(N4ZEia}@a}@a}@a}@checking for new query: numPingsReceived=3, elapsed TxPingTime=77.349106BH>B9CB; IB`BB =BBB;^AM l;=q BKY,l?A 6U>6:_?6? ٱ6ɷ< BAHRS rotation from veh to nav: [[0.822444,-0.527226,-0.213587],[0.552218,0.830107,0.077319],[0.136535,-0.181537,0.973860]]6HuQ?`V˿ī?I6N];6CYF}`ByJ I LLiMb@Mb@Mb@ 9Q?:v?{Gz?Y\/?yT=#<יAuA A)YAbD-VD-y==%EI=ٔE9Q-E>9IYI=M[FyMDMEU>QQ 5]l4U|c?Q 9el4UT)U\HBYe/?Q Ee:yeO+?Q Ie?Um6CIU :iU:U l4yqɮuOAqB*** querying acoustic contact ***i ijhY]DNOT Ignoring new targets: 33.66 m.bhYRherZher ProNav: ac range: 33.660172 m, nav range: 9.699219 m, bearing: 37.248963 deg, approach rate: -0.700535 m/s, LOS rate: -0.078879 deg/s, cmd heading: 32.367068 deg, new cmd heading: 32.273956 deg. BhXHeadingCmd: 0.563287 target range: 33.660172 and range: 33.80 m.h3?h*h"h hgfffdddjdZdz@@jBɢx:) J%i)iK;i 3? q Em  Em Em ,Ei "Em %;*Em 8:VEm g4ZEi BEm -6[r?6MQ ٱ6۩; >AHRS rotation from veh to nav: [[0.822275,-0.527678,-0.213119],[0.552453,0.830039,0.076366],[0.136600,-0.180533,0.974037]]6HP?G˿???|? ǿO+?i67>I6(];6CYF`ByF IbDNVDN yVE=%VT=ٔZ3Q-Z>9XYX=Z[Fy^D`^F:Eb>dQ 5jl4ft?Q 9jl4f )fHBYhyjb+?Q In?f6CIf:if:fl4yrBɮr?AryEjhDNOT Ignoring new targets: 33.66 m.bhRh^Zh^ ProNav: ac range: 33.660172 m, nav range: 9.436543 m, bearing: 37.218095 deg, approach rate: -0.696204 m/s, LOS rate: -0.084090 deg/s, cmd heading: 32.273955 deg, new cmd heading: 32.178774 deg. BhfHeadingCmd: 0.561626 target range: 33.660172 and range: 33.80 m.h?h*h"h hgfffdddjdZd%@@kBɢ;) B'i) i;i? <M=I?I!Q@ @@/@checking for new query: numPingsReceived=3, elapsed TxPingTime=78.105057!^A G=Iq I O >A k,֣?A:u>:d?:g ٱ:(; BAHRS rotation from veh to nav: [[0.822004,-0.528163,-0.212963],[0.552836,0.829834,0.075812],[0.136683,-0.180051,0.974115]]:HM? \B˿԰??@lh? ~?@ ǿ+?i:u>I: ];:CY^`BybC IbDjVDjyr$>%rG=ٔrSQ-r>9tYt=v[FyvDv#:Ez>xQ 5l4zB?Q 9l4z|)zHBYy+?Q I?z6CIz;iz ;z'l4y ɮA%PExceeded connect timeout, disconnecting.E- E-E-(E)"E-%;*E-:VE-c44ZE)a=@a=@a=@a=@9jhYeDNOT Ignoring new targets: 33.66 m.bhaRhmҺZhmҺ} ProNav: ac range: 33.660172 m, nav range: 9.157845 m, bearing: 37.182580 deg, approach rate: -0.699118 m/s, LOS rate: -0.091802 deg/s, cmd heading: 32.178773 deg, new cmd heading: 32.068985 deg. Bh}|HeadingCmd: 0.559709 target range: 33.660172 and range: 33.80 m.hI?h*h"h hgfffdddjdZd@HA@3kBɢ=A)< %i)iQ;iI?checking for new query: numPingsReceived=3, elapsed TxPingTime=78.359718BF>BBg IBaBBBBB؅;B- ,u?Aɰ;6>6Q?6Iw ٱ6w: >AHRS rotation from veh to nav: [[0.821938,-0.528315,-0.212839],[0.552918,0.829811,0.075470],[0.136744,-0.179714,0.974168]]6HQM?@@L>˿ ?`ύ?@Q?Ӏ?@ǿ c,?i6>I64$];6CYDyDiMb@Mb@Mb@ 9 rh?~jt?{Gz?YC+?yD=(A A)~zAYAbD-VD-1ٔ=+Q-=>9AYA=E[FyEDE9EM>QQ 5]l4U?Q 9]l4U)UHBY]+?Q E]:y]*?Q I]?U>7CIU:iU:U~6l4ymBɮmAmpEjhaeDNOT Ignoring new targets: 33.66 m.bhiRhmZhm} ProNav: ac range: 33.660172 m, nav range: 8.880862 m, bearing: 37.152097 deg, approach rate: -0.631554 m/s, LOS rate: -0.071672 deg/s, cmd heading: 32.068985 deg, new cmd heading: 31.974685 deg. Bh}DHeadingCmd: 0.558064 target range: 33.660172 and range: 33.80 m.h@?h*h"h hgfffdddjdZd`tQ n|,am ?A.checking for new query: numPingsReceived=3, elapsed TxPingTime=79.115143o\>Ƅ?lS ٱÊ: =AHRS rotation from veh to nav: [[0.822119,-0.528143,-0.212569],[0.552683,0.829974,0.075393],[0.136608,-0.179466,0.974233]]H N? w5˿?%?`L?c|? ƿ ,?io\>IC];CYM`ByMQ IbD]VD]ym<%m<ٔuL9Q-u>9qYq=}[Fy}D}>E}>Q 5l4?Q 9l4)HBYyl*?Q I?7CIl:i :Dl4yɮ|AjhDNOT Ignoring new targets: 33.66 m.bhRhZh ProNav: ac range: 33.660172 m, nav range: 8.609054 m, bearing: 37.120820 deg, approach rate: -0.710732 m/s, LOS rate: -0.084368 deg/s, cmd heading: 31.974684 deg, new cmd heading: 31.877888 deg. BhgHeadingCmd: 0.556374 target range: 33.660172 and range: 33.80 m.hn?h*h"h hgfffdddjdZd@hmA@QkBɢD?) F+i)i;in?/<_=In?I@ @@5@anManaging dock network, ignoring radio surface power offD9zD=AAEE EEEAEA"EE;*EE:VEAZEAaM@aM@aM@aM@checking for new query: numPingsReceived=3, elapsed TxPingTime=79.365089B}D>ByB} IB}`aBByByByB};B}Թ @,oK$?A6>60?6 ٱ6s,< >AHRS rotation from veh to nav: [[0.822775,-0.526675,-0.213671],[0.551597,0.830572,0.076748],[0.137048,-0.181007,0.973886]]6H@,T?Y˿? ? ĥ?`Ȋ?9+ǿ*?i6>I6#G];6CY^*aBybx IiEMb@Mb@Mb@AAAA A9EV-?+?y&1?YE-?yE=E`e%mJ=ٔm돺Q-u>9qYq=u[FyuD]HE>Q 5l4|?Q 9l4)"IBY-?Q E:y&?Q I?7CIH:i]:mSl4yBɮAqE5B*** querying acoustic contact ***i1 i1jhQUDNOT Ignoring new targets: 33.66 m.bhQRh] Zh] m ProNav: ac range: 33.660172 m, nav range: 8.327630 m, bearing: 37.113815 deg, approach rate: -0.666956 m/s, LOS rate: -0.017161 deg/s, cmd heading: 31.877890 deg, new cmd heading: 31.856166 deg. Bhmq<uHeadingCmd: 0.555995 target range: 33.660172 and range: 33.80 m.huU?hq*hy"hy hygyfyffdddjdZdnA@ԑ颽kBɢ&N>) *i)iu;iU?<ÿ[=IU?Iechecking for new query: numPingsReceived=3, elapsed TxPingTime=79.618439<a>i!>O@ @@?0@EM  EI EM ,EI "EM %;*EI VEM g4ZEI BEM -,@?A2 >2X?2 ٱ2< :AHRS rotation from veh to nav: [[0.823480,-0.525525,-0.213786],[0.550531,0.831232,0.077260],[0.137104,-0.181318,0.973821]]2HY?`@Y]˿@?`t?Mdz??l5ǿ)?i2 >I21];2CYB=aByB I DDbDNVDNyV2=%VD=ٔVQ-V>9XYX=Z[FyZD^RE^>`Q 5fl4bЛ?Q 9fl4bɞ)bKIBYdyft&?Q If?b8CIb):ibB:bsal4ynBɮnAnrEjhDNOT Ignoring new targets: 33.66 m.bhRh N_Zh N_- ProNav: ac range: 33.660172 m, nav range: 8.058022 m, bearing: 37.109113 deg, approach rate: -0.676935 m/s, LOS rate: -0.012202 deg/s, cmd heading: 31.856166 deg, new cmd heading: 31.841587 deg. Bh-5HeadingCmd: 0.555741 target range: 33.660172 and range: 33.80 m.h5E?h1*h1"h1 h1g9f9f9f9dAdAdAjdAZdMA@ lBɢ{=) ,i)i;i%E?%<-{X=I-E?II-Ӎ<@ @@4@!Echecking for new query: numPingsReceived=3, elapsed TxPingTime=80.121819Q^A% 6\=I I O >q D5 =D5 <E=  E= E= .E9 "E= %.;*E= *:VE= ـ4ZE9 aE @aE @aE @aE @F,PZ?A2">2c?2 ٱ2= :AHRS rotation from veh to nav: [[0.824468,-0.523851,-0.214086],[0.548997,0.832180,0.077972],[0.137312,-0.181818,0.973698]]2H` b?`b'g˿a? 7??p?Eǿ(?i2">I2A];2CYB_aByB IbDJR%=PVchecking for new query: numPingsReceived=3, elapsed TxPingTime=80.374229BBB IBaBB =BBB;B;EVDJ:y -=% 6=ٔQ->9)YY1=m[Fym DE>Q 5l4囊?Q 9l4){IBY!y-%?Q IM?b8CIy~ checking for new query: numPingsReceived=3, elapsed TxPingTime=80.877205AIIO?S ,?A,FmI>FF{?FٱFM? NAHRS rotation from veh to nav: [[0.826216,-0.520215,-0.216204],[0.545942,0.834045,0.079478],[0.138978,-0.183701,0.973108]]FH[p?˿[x?~?X? ?ǿ@#?iFmI>IFHU];FCYVaByV Ii5Mb@Mb@Mb@1111 195m?S㥫?:v?Y5.?y5/]=5T<5pA1 5A)11Y5GAbDMVDMk1y]=%]=ٔeBQ-e>9aYa=e[FymDm ӻEm>qQ 5}l4u??Q 9}l4uœ)uIBY+/?Q E:yy*?Q I?u8CIuH:iu:ul4yBɮAjhDNOT Ignoring new targets: 33.66 m.bhRhZhM ProNav: ac range: 33.660172 m, nav range: 7.373081 m, bearing: 37.055216 deg, approach rate: -0.709864 m/s, LOS rate: -0.105794 deg/s, cmd heading: 31.836465 deg, new cmd heading: 31.671868 deg. BhM6UHeadingCmd: 0.552778 target range: 33.660172 and range: 33.80 m.hU ?hQ*hQ"hY hYgYfYfafadadadajdZd@ZB@lBɢS,) 0i)i9;i ? +&< kQ=I  ?I ԁ591Y5{mAchecking for new query: numPingsReceived=3, elapsed TxPingTime=81.129929ԱEP@A @I@M0@I ^Am dO=D zD E  E E .E "E %;*E خ:VE ـ4ZE a @a @a @a @ B B B IB aBB =B B B v;B ;EBu9CBu9CBqBuͥ =Buͥ =Cub4 checking for new query: numPingsReceived=3, elapsed TxPingTime=81.396011AIIO>g',?A5>5f?54ٱ5Ai AHRS rotation from veh to nav: [[0.827500,-0.517526,-0.217739],[0.543769,0.835297,0.081202],[0.139853,-0.185595,0.972623]]5Hz?@˿f?`?ɴ? ?`ǿ?i5>I5k];1YaByE IiMb@Mb@Mb@ 9V-?Mb?y&1?Y-?y=`e<ApA A)jvAYAbDVDy=%=ٔ׺Q->9Y=[Fy!D]E> Q 5l4 ?Q 9l4 ˍ) IBY`.?Q E:y-?Q I? 9CI :i : l4y%Bɮ%A%jEjhIMDNOT Ignoring new targets: 33.66 m.bhQRhUpSZhUpS ProNav: ac range: 33.660172 m, nav range: 7.011305 m, bearing: 36.960846 deg, approach rate: -0.673883 m/s, LOS rate: -0.184854 deg/s, cmd heading: 31.671867 deg, new cmd heading: 31.374151 deg. Bh HeadingCmd: 0.547582 target range: 33.660172 and range: 33.80 m.h Z. ?h *h"h hgff1f1ԑd1ddjdZdB@-lBɢ-]()) -2i))Yaaie;ieZ. ?mjI.,N커?A"checking for new query: numPingsReceived=3, elapsed TxPingTime=81.885170,:Ӷ>:1?:Wٱ:}A BAHRS rotation from veh to nav: [[0.828684,-0.515076,-0.219041],[0.541611,0.836655,0.081644],[0.141209,-0.186292,0.972294]]:H?{ ̿T??`?&?@jǿ?i:Ӷ>I:A\];:CY5aBy5 IbDEVDEβymH=%mL=ٔu_Q-u>9u ?Yu ?=}[Fy})D}ʻE}>Q 5l4'?Q 9l4X)JBYy-?Q I?b9CI;i;l4yɮ܎AB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 33.66 m.bhRhSZhS ProNav: ac range: 33.660172 m, nav range: 6.741109 m, bearing: 36.889405 deg, approach rate: -0.673320 m/s, LOS rate: -0.185164 deg/s, cmd heading: 31.374153 deg, new cmd heading: 31.151241 deg. Bh'HeadingCmd: 0.543692 target range: 33.660172 and range: 33.80 m.ha/ ?h*h"h hgfffdddjdZd@fB@-mBɢ5gx,5,9դ?A2¾>2?2ٱ2C :AHRS rotation from veh to nav: [[0.829507,-0.512967,-0.220870],[0.539911,0.837704,0.082154],[0.142881,-0.187397,0.971837]]2HQ?9j@vE̿F?w??`I?ǿ J?i2¾>I2];2CYBaByB IHJAbDNVDNyV=%VX=ٔVzQ-V>9XYX=Z[FyZ0D^'E^>``Q 5fl4b8?Q 9jl4b')b4JBYhyj,?Q Ij?b9CIb6:ib :bl4ynBɮrApjh DNOT Ignoring new targets: 33.66 m.bh RhWZhW ProNav: ac range: 33.660172 m, nav range: 6.486027 m, bearing: 36.820708 deg, approach rate: -0.674459 m/s, LOS rate: -0.188785 deg/s, cmd heading: 31.151239 deg, new cmd heading: 30.937044 deg. BhHeadingCmd: 0.539953 target range: 33.660172 and range: 33.80 m.ha: ?h*h"h hgfffdddjdZdC@E EEE"E%;*E:VEZEa@a@a@a@:mBɢΈH) 3i)i~;ia: ? < |f=I a: ?I ]checking for new query: numPingsReceived=3, elapsed TxPingTime=82.389320BB>BB/ IBSbBBBBBg;B;EQ@ @@4@^A `=I  checking for new query: numPingsReceived=3, elapsed TxPingTime=82.641495I1 IA OU >FW;,6碌?A6?>6G?6qٱ6B >AHRS rotation from veh to nav: [[0.830222,-0.511358,-0.221911],[0.538390,0.838747,0.081487],[0.144458,-0.187127,0.971656]]6H@-? ]g̿`}:?`?Wܴ?@}?`ǿ@?i6?>I6"r];6CY^bBy^ IiMMb@Mb@Mb@IIII I9MMbX?l?~jt?YM*?yM=M=ٔurQ-}>9yYy=}[Fy}9D7E>Q 5l4K?Q 9l4b)aJBY+?Q E:y0?Q I?9CI ;iX ;l4yɮ}AjhDNOT Ignoring new targets: 33.66 m.bhRhCZhC ProNav: ac range: 33.660172 m, nav range: 6.201549 m, bearing: 36.694928 deg, approach rate: -0.662718 m/s, LOS rate: -0.306456 deg/s, cmd heading: 30.937045 deg, new cmd heading: 30.542403 deg. BhQRHeadingCmd: 0.533065 target range: 33.660172 and range: 33.80 m.hv?h*h"h hgfffdddjdZdT:C@smBɢdE) 6i)i l1?B,l ?A2b >2?2x1ٱ2B >AHRS rotation from veh to nav: [[0.830809,-0.509837,-0.223212],[0.537027,0.839671,0.080960],[0.146148,-0.187133,0.971402]]2H@?P`2̿R/? ?ѹ?@?ǿ?i2b >I2y`];2CYN1bByR IbDbVDb yn =%rT=ٔv Q-v>9xYx=z[FyzAD~zE~> Q 5l4 [?Q 9l4 |) JBY!y%c0?Q I%? .:CI Z;i [; l4y5Bɮ5UA=kEchecking for new query: numPingsReceived=3, elapsed TxPingTime=83.145081jhDNOT Ignoring new targets: 33.66 m.bhRhZh5 ProNav: ac range: 33.660172 m, nav range: 5.944315 m, bearing: 36.574417 deg, approach rate: -0.627000 m/s, LOS rate: -0.306453 deg/s, cmd heading: 30.542403 deg, new cmd heading: 30.165232 deg. Bh5PR=HeadingCmd: 0.526483 target range: 33.660172 and range: 33.80 m.h=?h9*hA"hA hAgAfAfIfIdIdIdIjdQZdmH)y }7iy)yyyi}i%>P@ @@^1@E EE+E"E&;*E˭:VE [4ZEa@a@a@a@u checking for new query: numPingsReceived=3, elapsed TxPingTime=83.397667B B B a IB bBB B B B [;B ;E^A es=I) I9 OM >9 ~lH,T#?A-BT>-?->ٱ-D EAHRS rotation from veh to nav: [[0.831435,-0.507999,-0.225061],[0.535598,0.840540,0.081407],[0.147818,-0.188227,0.970938]]-H@?A̿#??״? ?ȿ`?i-BT>I-{u];)YMTbByM/ IiMb@Mb@Mb@ 9q= ףp?I +?~jt?Y+?y9=pA )uAYAbDVDkyeΛ=%e4=ٔetQ-e>9iYi=m[FymJDutaEu>yQ 5l4}#o?Q 9l4}v)}JBY-?Q E:y5?Q I?}|:CI}j;i} ;}El4yɮAjhDNOT Ignoring new targets: 33.66 m.bhRh0Zh0 ProNav: ac range: 33.660172 m, nav range: 5.643368 m, bearing: 36.363247 deg, approach rate: -0.701152 m/s, LOS rate: -0.518223 deg/s, cmd heading: 30.165230 deg, new cmd heading: 29.497967 deg. BhӱHeadingCmd: 0.514837 target range: 33.660172 and range: 33.80 m.hV?h*h"h hgfffdddjdZd>C@mBɢ%,vP)! %8i!))))i-Zԑ bEE|a4jEEd4rEEd/E  E E -E "E *E :VE t4ZE BE VU,?V(ٱVD ^AHRS rotation from veh to nav: [[0.831908,-0.506447,-0.226804],[0.534388,0.841299,0.081516],[0.149527,-0.189015,0.970523]]VH? 4Ϳ?@?6޴?@#?1ȿ@?iV>IV[n];TYf{bByfG IbDnVDn0yv7=%zb=ٔzQ-z>9|Y|=~[Fy~QD~iE>Q 5 l4~?Q 9l4r)JBYy4?Q I?:CI;i/;l4yBɮ%؍A%lE=B*** querying acoustic contact ***i9 i9jhIMDNOT Ignoring new targets: 33.66 m.bhQRhUZhUe ProNav: ac range: 33.660172 m, nav range: 5.402727 m, bearing: 36.180631 deg, approach rate: -0.666024 m/s, LOS rate: -0.527937 deg/s, cmd heading: 29.497968 deg, new cmd heading: 28.925741 deg. Bhe(mHeadingCmd: 0.504849 target range: 33.660172 and range: 33.80 m.h=?h*h"h hgfffdddjdZd@C@ImnBɢmU)i me9ii)qqqiuchecking for new query: numPingsReceived=3, elapsed TxPingTime=84.153069ԡ zU,V?A2(.>2?2ٱ2E :AHRS rotation from veh to nav: [[0.832178,-0.505141,-0.228719],[0.533438,0.841907,0.081468],[0.151407,-0.189803,0.970078]]2H3?*@FͿ ??۴? Ma?yKȿ@ ?i2(.>I2e];2CY^bBy^Q IbDjVDj02yr=%rN=ٔr#Q-r>9tYt=v[FyvYDvEz>xQ 5l4z?Q 9l4zIn)zKBYy 4?Q I ?z:CIz";iz#;zl4yBɮAbEjhDNOT Ignoring new targets: 33.66 m.bhRhZh ProNav: ac range: 33.660172 m, nav range: 5.138591 m, bearing: 35.963156 deg, approach rate: -0.638370 m/s, LOS rate: -0.552615 deg/s, cmd heading: 28.925742 deg, new cmd heading: 28.239815 deg. BhHeadingCmd: 0.492878 target range: 33.660172 and range: 33.80 m.hyZ>h*h"h hgfffdddjdZd@zD@-FnBɢ-R)) -;i1)111i5X 9=-Ƿ=I=yZ>IAIDu=Du4=E} E}EyEy"E}(;*E}:VEyZEya@a@a@a@BBB IBbBBBBBJ;B;EEchecking for new query: numPingsReceived=3, elapsed TxPingTime=84.406700O@ @@/@@@gA^A =AgAzAgAIQIiOu>)  checking for new query: numPingsReceived=3, elapsed TxPingTime=84.657463Q %[,7p?AYbByc I !!iMb@Mb@Mb@ 9Fx?&1?:v?Y+?y=T<lA OA)sAY…AbDVDky=%<=ٔQ->9Y=%[Fy%bD-E->1Q 5=m45?Q 9=m45i)53KBY=-?Q E=:yE(9?Q IE?5J;CI5L:i5:5L m4yMBɮMnAMcEjhq}DNOT Ignoring new targets: 33.66 m.bhyRh}oZh}o ProNav: ac range: 33.660172 m, nav range: 4.840852 m, bearing: 35.625164 deg, approach rate: -0.696424 m/s, LOS rate: -0.839200 deg/s, cmd heading: 28.239815 deg, new cmd heading: 27.163605 deg. BhHeadingCmd: 0.474094 target range: 33.660172 and range: 33.80 m.h~>h*h"h hgfffdddjdZd=D@nBɢdM) m=i)i&g+=I~>I)@ @@@E EEE"E%.;*ES:VEZEBE:ԁ b,=?A0Ra>RJ?R=ٱR'G bAHRS rotation from veh to nav: [[0.833047,-0.502190,-0.232031],[0.531078,0.843416,0.081275],[0.154883,-0.190933,0.969307]]RH R? 1Ϳ?`C?qδ?6?@zpȿ?iRa>IR];RCYjbByjt IbDVDy-/=%-U=ٔ5Q-5>95"?Y="?==[Fy=jD=ٻE=>AQ 5Mm4Ee?Q 9Mm4Ed)EXKBYQyU8?Q IU?E;CIE:iEf;EZm4y]Bɮ]OAedEjhDNOT Ignoring new targets: 33.66 m.bhRhzZhzߝ=ߝ<checking for new query: numPingsReceived=3, elapsed TxPingTime=85.161499 ProNav: ac range: 33.660172 m, nav range: 4.591226 m, bearing: 35.315461 deg, approach rate: -0.668600 m/s, LOS rate: -0.874605 deg/s, cmd heading: 27.163604 deg, new cmd heading: 26.184080 deg. BhHeadingCmd: 0.456998 target range: 33.660172 and range: 33.80 m.h>h*h"h hgfffdddjdZd+mD@nBɢ\) >i)i\  =I >I ԉ@ @@1@Ա^A 箵=DzD@AE EE.E"E%;*E:VEـ4ZEa@a@a@a@B ?>B 8CB IB GcBB =B B B 7;B ;EU checking for new query: numPingsReceived=3, elapsed TxPingTime=85.414146 A9 II IY Oe >h,ǜ?A\]I>]?]E&!ٱ]]I uAHRS rotation from veh to nav: [[0.833443,-0.500364,-0.234537],[0.529915,0.844037,0.082409],[0.156724,-0.192968,0.968608]]]H?`Qο?Z??@?-ȿ?i]I>I]v];]CYbByw Ii Mb@Mb@Mb@     9 HzG?:v?Mb`?Y =*?y = ; A  ZA) pA Y AbD%VD%ky51<%=:=ٔ=5Q-=>9AYA=E[FyErDE4EE>Q 5m4Ŝ?Q 9 m4r_)KBY O,?Q E:yf8?Q I?;CIHh)*h)"h) h)g)f)f1f1d1d1dqjdqZduRD@颥nBɢ>) Ci)顩iiWR >Iy>IP@ @@0@@>@>^Ae=Am?Am?9 A .AI I O >E  E E ,E "E s!;*E :VE g4ZE BE x2^?2R.#ٱ2K :AHRS rotation from veh to nav: [[0.834443,-0.497417,-0.237237],[0.527755,0.845223,0.084105],[0.158683,-0.195384,0.967804]]2H`?`߿]ο]?` ?퇵?O?Xɿ`@?i2>I2];2CYBbByB IIF<)F=bDNVDNyV>%Vg=ٔVʷQ-Z>9Z ?YZ ?=Z[FyZzD^ݻE^>`Q 5fm4bӜ?Q 9fm4b[)bKBYdyf7?Q Ij?bh*h"h hgfffdddjdZdD@E oBɢEk})m~f< mOBii)iiiimquN>I}3'>IyO@ @@4@!A AECM9IYMkAachecking for new query: numPingsReceived=3, elapsed TxPingTime=86.172707^Ae~=ԑ A ؟AI I O > u,Jaإ?A2ɚ>2?2$ٱ2_L >AHRS rotation from veh to nav: [[0.835716,-0.494603,-0.238637],[0.525228,0.846773,0.084332],[0.160361,-0.195816,0.967440]]2H.? ߿@ο?@? Ŗ??@ɿE?i2ɚ>I2c];2CYFcByF IbDNVDNyV<%VJ=ٔZQ-Z>9Z"?Y^"?=^[Fy^D^E^>`Q 5fm4b圊?Q 9fm4bV)bKBYhyj 7?Q Ij?bWh)*h)"h) h)g)f)f1f1d1d9d9jd9Zd=`"E@iuRoBɢuKc)q uDiq)yyyi}}~+>I>I DE%=DAEM EMEM(EI"EM*;*EM:VEMc44ZEIa]@a]@a]@a]@BAB>>BB IBcBBBBB-;By;EBqBqBqBqBu¦ =Cuk5checking for new query: numPingsReceived=3, elapsed TxPingTime=86.422066P@ @@/@ԙ^A=A I1IaOmx> checking for new query: numPingsReceived=3, elapsed TxPingTime=86.673050 {,?A2#>2?2g'ٱ2P :AHRS rotation from veh to nav: [[0.837133,-0.490461,-0.242192],[0.522342,0.848207,0.087771],[0.162381,-0.199983,0.966250]]2H@?c߿@$Ͽ?$?`&x?? ɿ?i2#>I2>];2CY^$cByb IiuMb@Mb@Mb@qqqq q9uFx?K?~jthYu+?yu^=uDupAukA uA)qqYqbDVDky6=%==ٔQ->9Y=[FyDNE>Q 5m4?Q 9m4 R)KBYY-?Q E:y0?Q I?h!*h!"h! h!g)f)f)f)d1d1d1jd9Zd==E@eoBɢelU)m < mzFii)iiiimVq}9=>I}>Iy!@! @!@!@!@1@1^A '>A fAzA Eu EuEu/Eq"Eu%.;*Eu:VEuJ4ZEqBEu:1i ݂, ?A2>2 ?2\)ٱ26U :AHRS rotation from veh to nav: [[0.839205,-0.484973,-0.246043],[0.518295,0.850252,0.091880],[0.164640,-0.204629,0.964894]]2H? ߿X~Ͽߕ?C5?m?`?F1ʿi?i2>I2;];2CYr9cByr I ttbD~VD~y G\=% T=ٔ »Q- >9 ?Y ?=[FyDBE>!Q 5-m4%?Q 9-m4%M)% LBY)y-q/?Q I-?%h*h"h hgfffdddjdZd&oE@oBɢwd) WHi)iAIN>IQ>I1YmBB IBcBB =BBB@;B;Ei) I) - checking for new query: numPingsReceived=3, elapsed TxPingTime=87.429382^A *_> A ؟AI IO->:,)?A\YUEcByU Ii5Mb@Mb@Mb@1111 195 rh?L7A`?:vY5C+?y5+=5T15hA 5ZA)5AnA1Y5 AbDUVDU:ye <%e!=ٔeQ-e>9m"?Ym"?=m[FymDuEu>yQ 5m4}?Q 9m4}ZH)}8LBY ,?Q E:yi%?Q I?}:=CI}a:checking for new query: numPingsReceived=3, elapsed TxPingTime=87.681252i}:}nm4yEBɮEiAE]EjhimDNOT Ignoring new targets: 33.66 m.bhiRhuZhu ProNav: ac range: 33.660172 m, nav range: 2.912354 m, bearing: 32.751854 deg, approach rate: -0.637174 m/s, LOS rate: -0.935456 deg/s, cmd heading: 19.368588 deg, new cmd heading: 17.879984 deg. Bh HeadingCmd: 0.312065 target range: 33.660172 and range: 33.80 m.hƟ>h*h"h hgfffdddjdZd زE@pBɢɗF) Ki)igWc>IƟ>I-`=<E  E E 0E "E =-;*E |:VE 4ZE BE q@ J>A m checking for new query: numPingsReceived=3, elapsed TxPingTime=87.933548^A d)>A I I O >.:,%E?A(2\>2 ?2!.ٱ2Hd >AHRS rotation from veh to nav: [[0.845775,-0.468486,-0.255316],[0.505993,0.856081,0.105337],[0.169222,-0.218279,0.961102]]2H@?`ݿWп1?e?W?@?˿Z?i2\>I2];2CYBbcByF IbDnVDnyr=%vW=ٔvKHQ-v>9xYx=z[FyzD~&E~>Q 5m40?Q 9 m4kD)ZLBY y !?Q I ?{=CI6:ir;{m4y”BɮEA5B*** querying acoustic contact ***i9 i9jhAEDNOT Ignoring new targets: 33.66 m.bhIRhMڎZhMڎ ProNav: ac range: 33.660172 m, nav range: 2.659320 m, bearing: 32.425152 deg, approach rate: -0.706605 m/s, LOS rate: -0.999130 deg/s, cmd heading: 17.879984 deg, new cmd heading: 16.806753 deg. Bhl+HeadingCmd: 0.293333 target range: 33.660172 and range: 33.80 m.h/>h*h"h hgfffdddjdZd@E@4pBɢUp) Mi)iS$mQe>I/>I  ԉchecking for new query: numPingsReceived=3, elapsed TxPingTime=88.185127ԱMO@I @I@M/@I^A%cF> AU .AIa Iq O} >E  E E /E "E %;*E a:VE J4ZE a @a @a @a @B <>B B < IB dBB B B B V;B ;E^,^?A6checking for new query: numPingsReceived=3, elapsed TxPingTime=88.437134Z>Z?Z.0ٱZIk` fAHRS rotation from veh to nav: [[0.849716,-0.459038,-0.259358],[0.498487,0.859684,0.111600],[0.171737,-0.224115,0.959312]]ZH`0? `ݿSп5??`ב?|?`ϯ̿ ?iZ>IZF];ZCYnocByn IIr<)r<bDzVDzy<%I=ٔͻQ->9  ?Y  ?= [Fy DyE>Q 5%m4sC?Q 9%m4D@)~LBY!y%e?Q I-?=CI@;i:m4y1ɮ5+A1jhDNOT Ignoring new targets: 33.66 m.bhRhaZha  ProNav: ac range: 33.660172 m, nav range: 2.389330 m, bearing: 32.057448 deg, approach rate: -0.666197 m/s, LOS rate: -1.009823 deg/s, cmd heading: 16.806753 deg, new cmd heading: 15.579185 deg. Bh B-HeadingCmd: 0.271908 target range: 33.660172 and range: 33.80 m.h7>h*h"h hgff!f!d!d!d)jd)Zd- F@颥kpBɢb) Oi)顩i'/p>I7>IQ@ @@/@checking for new query: numPingsReceived=3, elapsed TxPingTime=88.689011^AJ>A A I) I9 OE >2,x?AY~cBy~ Ii]Mb@Mb@Mb@YYYY Y9]q= ףp?I +?9Y=[FbEEt4jEE^n4rEE0E EE&E"EU,;*E:VE4ZEBEQ 5m4Z?Q 9m4;)LBY+?Q E:y?Q I?>CI@:i:m4yȔBɮA^EIjhY]DNOT Ignoring new targets: 33.66 m.bhaRhe#?Zh#? ProNav: ac range: 33.660172 m, nav range: 2.066626 m, bearing: 31.766798 deg, approach rate: -0.641907 m/s, LOS rate: -0.668422 deg/s, cmd heading: 15.579185 deg, new cmd heading: 14.571188 deg. Bh]HeadingCmd: 0.254315 target range: 33.660172 and range: 33.80 m.h5>h*h"h hgf f f d ddjdZd@WF@pBɢCQ) XQi)i$)N>I5>IIa)aqO@ @@/@@@^A.[>ԡ A ؟AI I % checking for new query: numPingsReceived=3, elapsed TxPingTime=89.193230O5 > q,?A>>>?>@7ٱ>!{ FAHRS rotation from veh to nav: [[0.860132,-0.433449,-0.268876],[0.478003,0.868931,0.128345],[0.178004,-0.238917,0.954585]]>H`4?ۿC5ѿ?H?m??Ԕο?i>>I>J];9"?Y"?=[FyDE ?!Q 5-m4%Hi?Q 9-m4%}8)%LBY)y-y?Q I5?%J>CI%K:i%B:%Mm4y9ɮ=A9jhamDNOT Ignoring new targets: 33.66 m.bhiRhuྻZhuྻy ProNav: ac range: 33.660172 m, nav range: 1.851906 m, bearing: 31.674930 deg, approach rate: -0.699022 m/s, LOS rate: -0.333752 deg/s, cmd heading: 14.571187 deg, new cmd heading: 14.263632 deg. Bh eHeadingCmd: 0.248947 target range: 33.660172 and range: 33.80 m.h~>h*h"h hgfffdddjdZdW|F@ pBɢ Ĉ)q= Qi)i,9=l>I=~>IAP@ @@0@^A$l>ԱBBBa IBEdBBBBBg;B;EE EE*E"E&;*E|:VE(N4ZEBE<2E<JEy<:Ey<checking for new query: numPingsReceived=3, elapsed TxPingTime=89.445030AIIO_> ,}?AF>FȨ>F:ٱFÎ VAHRS rotation from veh to nav: [[0.866101,-0.418637,-0.273153],[0.465841,0.874144,0.137348],[0.181276,-0.246203,0.952115]]FH@?ڿU{ѿ@X??? 4?Ͽ w?iF>IFo];DYcBy Ichecking for new query: numPingsReceived=3, elapsed TxPingTime=89.697182iMb@Mb@Mb@ 9S㥛?:v?Y$?yT<$AdA A)lAYbD VD yvh=%%9=ٔ%Q-%>9!Y)=-[Fy-D-6E->1Q 5=m45}?Q 9Em454)5MBYE$?Q EE:yEi?Q IE?5>CI5:i5]:5m4yM͔BɮUA_EjhQUDNOT Ignoring new targets: 33.66 m.bhQRh]<Zh]<e ProNav: ac range: 33.660172 m, nav range: 1.573473 m, bearing: 32.075729 deg, approach rate: -0.596697 m/s, LOS rate: 1.010916 deg/s, cmd heading: 14.263633 deg, new cmd heading: 15.678502 deg. Bhmr-=HeadingCmd: 0.273641 target range: 33.660172 and range: 33.80 m.h>h*h"h hgfffdddjdZdF@qBɢ[)+< Si)ib.xM>I>I O@ @@0@1E EE+E"E%.;*E*:VE [4ZEa@a@a@a@ checking for new query: numPingsReceived=3, elapsed TxPingTime=89.949112^A ( n>Y A I I O >ܶ,0Ǧ?A2Ą>2q>2@>ٱ2 :AHRS rotation from veh to nav: [[0.872837,-0.400968,-0.278172],[0.451564,0.879743,0.148803],[0.185055,-0.255493,0.948935]]2HH?tٿѿj?&?@ ??`Zп]?i2Ą>I2^;0YBdByB: IbDNVDNܲyR>%R^=ٔV*Q-V>9TYX=Z[FyZDZ1E^>\Q 5bm4^?Q 9bm4^1)^/MBYdyf>Q If?^>CI^:i^:^m4yhɮn*AlB*** querying acoustic contact ***i ijhimDNOT Ignoring new targets: 33.66 m.bhiRhu=Zhu= ProNav: ac range: 33.660172 m, nav range: 1.340213 m, bearing: 32.700852 deg, approach rate: -0.608231 m/s, LOS rate: 1.913687 deg/s, cmd heading: 15.678501 deg, new cmd heading: 17.879144 deg. Bh+=HeadingCmd: 0.312050 target range: 33.660172 and range: 33.80 m.hş>h*h"h hgfffdddjdZdF@=BqBɢ=Ip)9 =Si9)Aaaie(0im >Imş>Iq}i>i}>checking for new query: numPingsReceived=3, elapsed TxPingTime=90.201950P@ @@4@^ARk>A .AI)I)O5>BQ AU 4=BY BY B] IB] dBBY BY BY B] a;B] ;Eq E  E E *E "E %;*E :VE (N4ZE BE -2Hx>2(MBٱ2b :AHRS rotation from veh to nav: [[0.880013,-0.382619,-0.281390],[0.435894,0.885916,0.158584],[0.188611,-0.262213,0.946399]]2H)? |ؿ@Lҿ`?mY?}L?f$?пH?i2Rw>I2];01Y=dBy=E IbDMVDMky&=%.=ٔQ->9 ?Y ?=[FyDE>Q 5m4T?Q 9m4W.)gMBYy>Q I??CI:i-:m4yɔBɮAVEjhI]DNOT Ignoring new targets: 33.66 m.bhYRhe=Zhe=  ProNav: ac range: 33.660172 m, nav range: 1.043822 m, bearing: 34.188179 deg, approach rate: -0.661803 m/s, LOS rate: 4.263516 deg/s, cmd heading: 17.879144 deg, new cmd heading: 23.588482 deg. Bh 6>HeadingCmd: 0.411697 target range: 33.660172 and range: 33.80 m.h>h9*h9"h9 h9g9f9afifidqdqdyjdyZd})G@ qBɢX) Vi)9aaie[2=I>Ichecking for new query: numPingsReceived=3, elapsed TxPingTime=90.706108ԩ= D-< O@  @ @ /@ E EE+E"E);*EE:VE [4ZEa@a@a@a@Mchecking for new query: numPingsReceived=3, elapsed TxPingTime=90.957069^ANM>9A)I1IAOU!?|D, ?AP\l9YAE4<ɰE4<Q>~>\$JٱR AHRS rotation from veh to nav: [[0.894216,-0.343288,-0.287281],[0.402383,0.897627,0.179869],[0.196125,-0.276439,0.940806]]Hk?`nտ@bҿ?]???-ѿ?iQ>I];YjdByx I i}Mb@Mb@Mb@yyyy y9}NbX9?Mb?{Gz?Y}%?y}<}ף<};A}aA }VA)}$jAyY}pA p<bDVDk1yV>%=ٔFQ->9Y=[FyDnpE>Q 5m4Ý?Q 9m4))MBY%?Q E:yK>Q I??CIz ;i~ ;m4yϔBɮgAWEjhDNOT Ignoring new targets: 33.66 m.bhRh x>Zh x>-ProNav REINIT: LOS rate is 13.904612 deg/s. Setting heading cmd to target acoustic bearing of 41.348417 deg.HeadingCmd: 0.721666 target range: 33.660172 and range: 33.80 m.h8?h*h"h hgff!f!d!d!d)jd)Zd-pG@UqBɢ]Y?M)Y ]UiY)YYaie2im">Im8?Ii}gA}fAchecking for new query: numPingsReceived=3, elapsed TxPingTime=91.2091229":<iy @y  @y @y @ ^A] X;>Ba Ba Be IBe dBBa Ba Ba Be H;Be ;EB%8CB%8CB!B%ʧ =B%ʧ =C%V+4D zD E  E E )E "E s!;*E I:VE FA4ZE BE x,$?A>D>>>>>Mٱ>蔾 FAHRS rotation from veh to nav: [[0.901021,-0.323896,-0.288536],[0.385124,0.903404,0.188522],[0.199603,-0.280984,0.938726]]>H)?Կ@^wҿݥ?@?{!?@? ѿ` ?i>D>>I> ];%^b=ٔb !Q-b>9b"?Yf"?=f[FyfDfVEf>hQ 5nm4j$՝?Q 9nm4j]')jMBYpyr>Q Ir?j?CIjd:ij:jm4yvԔBɮvAzXEjhDNOT Ignoring new targets: 33.66 m.bhRh^?Zh%^?-%ProNav REINIT: LOS rate is 32.311353 deg/s. Setting heading cmd to target acoustic bearing of 41.348417 deg.-HeadingCmd: 0.721666 target range: 33.660172 and range: 33.80 m.h)h)*h)"h) h1g1f1f9f9d9d9d9jdAZdEG@mqBɢm]z)q uTiq)qqqiu4AA .AI I O >q e,z>?AN{W+>NX>NPٱNݕ VAHRS rotation from veh to nav: [[0.907407,-0.305797,-0.288272],[0.368170,0.909202,0.194430],[0.202641,-0.282560,0.937601]]NHz ?-ӿ sҿ`?`.?@?%?wҿ?iN{W+>IN^;LY^dBy^ IEn EnEn*El"En+$;*En:VEn(N4ZElar@ar@ar@ar@}checking for new query: numPingsReceived=3, elapsed TxPingTime=91.965187iMb@Mb@Mb@ 9"~j?:v?9 ?Y ?=[FyD+E>Q 5n4靊?Q 9n4I$)@NBY#?Q E:y|>Q I?@CI:i:n4yӔBɮAjh9=DNOT Ignoring new targets: 33.66 m.bh9RhEL@ZhEL@I-UProNav REINIT: LOS rate is 131.868946 deg/s. Setting heading cmd to target acoustic bearing of 41.348417 deg.UHeadingCmd: 0.721666 target range: 33.660172 and range: 33.80 m.hQhY*hY"hY hYgYfYfafadadadijdiZdm`TG@1rBɢ_) Ui)i5$?IMa@IIIIQ@ @@4@@ >@=y^Aa5=Ae؟AIiIO>ԡ- checking for new query: numPingsReceived=3, elapsed TxPingTime=92.217155 ,BX?A2Bb>2<^>2Sٱ2╾ >AHRS rotation from veh to nav: [[0.913244,-0.289131,-0.287035],[0.352016,0.914674,0.198637],[0.205111,-0.282445,0.937099]]2HJ9?`ҿ ^ҿm?E?l?@A?ҿ`?i2Bb>I2>];2CY^ eByb I ``bDjVDjfyr>%r]=ٔr3߻Q-v>9v"?Yv"?=v[FyvDz BEz>|Q 5n4~?Q 9n4~!)~|NBY y >Q I ?~:@CI~:i~:~ n4yؔBɮQAYE5B*** querying acoustic contact ***i1 i1jhAEDNOT Ignoring new targets: 33.66 m.bhARhMO.@ZhMO.@-MProNav REINIT: LOS rate is 156.052601 deg/s. Setting heading cmd to target acoustic bearing of 41.348417 deg.UHeadingCmd: 0.721666 target range: 33.660172 and range: 33.80 m.hQhQ*hQ"h hgfffdddjdZdH@uarBɢ}u)y }Uiy)yyi17ByB} IB}leBByByByB});B}p;EE EE-E"E=-;*E:VEt4ZEBEq = checking for new query: numPingsReceived=3, elapsed TxPingTime=92.721046A ,r?AFG >F>FUٱF RAHRS rotation from veh to nav: [[0.918142,-0.275654,-0.284659],[0.337878,0.919916,0.198979],[0.207014,-0.278871,0.937751]]FHja?Oѿ`7ҿ`ɟ?o?#x?l? ѿ ?iFG >IFj^;FCYZ0eByZ Ii=Mb@Mb@Mb@9999 99=??~jt?Y=f&?y=L==D==EA=]A =A)=hA9Y9bDUVDUkye=%eC=ٔeQ-e>9iYi=m[FymDm Eu>qQ 5n4u?Q 9n4u)uNBYW'?Q E:y>Q I?u~@CIu:iuQ:u n4yɮAjhDNOT Ignoring new targets: 33.66 m.bhRh!+?Zh!+?-ProNav REINIT: LOS rate is 38.300826 deg/s. Setting heading cmd to target acoustic bearing of 41.348417 deg.HeadingCmd: 0.721666 target range: 33.660172 and range: 33.80 m.hh*h"h hgfQfYfYdYdYdYjdaZde`k>H@颭rBɢk) OVi)i]8A>i A .AI I! OE >S,e?A 2Q=2_>2XVٱ2A >AHRS rotation from veh to nav: [[0.921806,-0.267058,-0.280986],[0.326939,0.925053,0.193361],[0.208289,-0.270107,0.940031]]2Hp?yѿ@ѿ? ??4?mIѿ?i2Q=I2H^;2CYBeByF* IbDNVDN1ynHk>%nS=ٔr\Q-r>9r ?Yr ?=v[Fyv DvUEv>xQ 5~n4zo"?Q 9~n4z)zOBYyA>Q I?z@CIz;iz;zA.n4y ޔBɮ `A jh1=DNOT Ignoring new targets: 33.66 m.bh9Rh=>ZhE>-EProNav REINIT: LOS rate is 14.946732 deg/s. Setting heading cmd to target acoustic bearing of 41.348417 deg.MHeadingCmd: 0.721666 target range: 33.660172 and range: 33.80 m.hIhI*hI"hI hIgQfQfQfYdYdYdYjdaZde`mH@颍rBɢ=w) Si)顑i(9Bu <>Bq Bu n IBu eBBq Bq Bq Bu ;Bu O;E E  E E )E "E (;*E :VE FA4ZE BE 2 Wٱ2y找 :AHRS rotation from veh to nav: [[0.924495,-0.261550,-0.277310],[0.318704,0.929453,0.185862],[0.209134,-0.260208,0.942632]]2H@v?@=пqѿe??`P?`?>п *?i2-=I2v!^;2CLYReByRH IbDZVDZ1yb=%fL=ٔfV Q-f>9j"?Yj"?=j[FyjDj鴼Ej>lQ 5rn4n5?Q 9vn4nA)nKOBYtyvw>Q Iv?n@CIn:inF:nG HeadingCmd: 0.876508 target range: 33.660172 and range: 33.80 m.h b`?h*h"h hg!f!f)f)d)d)d9jdAZdE OH@颍rBɢ\^]) Ti)i8:i!> checking for new query: numPingsReceived=3, elapsed TxPingTime=93.729996y@ @@/@^AUm<A I I O >! /,ɯ?A2b=2E>2'Xٱ2ҥ :AHRS rotation from veh to nav: [[0.926535,-0.257899,-0.273898],[0.311938,0.933638,0.176112],[0.210302,-0.248614,0.945497]]2H-?@lпѿ?\? ڊ?@/?ϿA?i2b=I2];2CYBeByBe IbEM(N4jEMOS4rEMA/Eb EbE`E`"Eb8;*Eb|:VE`ZE`aj@aj@aj@aj@echecking for new query: numPingsReceived=3, elapsed TxPingTime=93.981171iMb@Mb@Mb@ 9ˡE?:v? ףp= ?Y'?y=Q8=ݛA `A)lgAYAbDVDyW=%:=ٔ2Q->9Y=[FyDE>Q 5n4J?Q 9n4)OBYl*?Q E:yM>Q I?GACI:i:Kn4y ɮ Ajh1=DNOT Ignoring new targets: 33.66 m.bh9RhE=ZhE=M ProNav: ac range: 33.660172 m, nav range: 1.156144 m, bearing: 197.679242 deg, approach rate: 0.658407 m/s, LOS rate: 6.314990 deg/s, cmd heading: 50.220226 deg, new cmd heading: 58.159738 deg. BhUo>]HeadingCmd: 1.015079 target range: 33.660172 and range: 33.80 m.h]?hY*hY"ha hagafafifidididijdqZdbH@0sBɢ9n) HTi!)!!!i%M; checking for new query: numPingsReceived=3, elapsed TxPingTime=94.233032ԡ ,٧?A6b=6>6γYٱ6y >AHRS rotation from veh to nav: [[0.927754,-0.257229,-0.270381],[0.307816,0.937082,0.164705],[0.211002,-0.236033,0.948560]]6H`)?ovпMѿ @?? ?`?S6ο Z?i6b=I6)];4YFBfByF IbDRVDRܲyVkm>%Z`=ٔZpQ-Z>9^ ?Y^ ?=^[Fy^$D^DEb>`Q 5fn4bw\?Q 9jn4b)bOBYhyj>Q Ij?bACIb:ibW:bhXn4ynBɮrAr[E~B*** querying acoustic contact ***i| i|jh  DNOT Ignoring new targets: 33.66 m.bh RhS=ZhS=% ProNav: ac range: 33.660172 m, nav range: 1.389299 m, bearing: 199.478016 deg, approach rate: 0.637740 m/s, LOS rate: 4.093738 deg/s, cmd heading: 58.159737 deg, new cmd heading: 62.640543 deg. Bh%/>-HeadingCmd: 1.093284 target range: 33.660172 and range: 33.80 m.h-?h)*h)"h1 h1g1f1f9f9d9d9dAjdAZdEI@m[sBɢm6O{)q uQiq)qqyqi}<;E1@1 @1@5/0@9@E>@E >E EE+E"E*;*E:VE [4ZEBE % checking for new query: numPingsReceived=3, elapsed TxPingTime=94.737076#Q,7?A66=6j>6ɳYٱ6i BAHRS rotation from veh to nav: [[0.927966,-0.260813,-0.266186],[0.307175,0.939743,0.150088],[0.211002,-0.221042,0.952165]]6H`?(п2 ѿ@è?_?`6??@K̿@#x?i66=I6];6CYJ`fByJ ILNAiMb@Mb@Mb@ 9Pn?V-?X9v?Y$?yh><ҙA?_A A)dAYA))bD5VD5yE=%E?=ٔEU;4Q-M>9M"?YM"?=M[FyM,DUӺEU>YQ 5en4]=p?Q 9en4])]PBYeB(?Q Em:ym% ?Q Im?]ACI]:i]:]Tgn4yuBɮuΆAԹuREjh9=DNOT Ignoring new targets: 33.66 m.bh9RhE=ZhE=u ProNav: ac range: 33.660172 m, nav range: 1.659203 m, bearing: 201.433478 deg, approach rate: 0.604099 m/s, LOS rate: 3.664035 deg/s, cmd heading: 62.640546 deg, new cmd heading: 67.539712 deg. Bhu)>}HeadingCmd: 1.178790 target range: 33.660172 and range: 33.80 m.h}?h*h"h hgfffdddjdZd rCI@esBɢeY)i cSi)顩iX<A (,@ ?AYfBy  IbDVD0y- >%-N=ٔ-Q-->91Y1=5[Fy55D=E=>AQ 5Mn4E?Q 9Mn4Ex )E;PBYIyIQ IU?E BCIE1:iE:E1un4yYɮ]^AYjhDNOT Ignoring new targets: 33.66 m.bhRhY=ZhY= ProNav: ac range: 33.660172 m, nav range: 1.911186 m, bearing: 202.753807 deg, approach rate: 0.669238 m/s, LOS rate: 3.044038 deg/s, cmd heading: 67.539711 deg, new cmd heading: 70.974034 deg. Bh>HeadingCmd: 1.238731 target range: 33.660172 and range: 33.80 m.h?h*h"h hgfffdddjdZdqI@sBɢ8{) Ri)iX>ԉB ;>B B #IB !gBB B B B ;B 7;ED zD ?AE  E E +E "E m+;*E n:VE [4ZE BE 6$Xٱ6@ BAHRS rotation from veh to nav: [[0.924405,-0.282743,-0.255991],[0.318357,0.941614,0.109601],[0.210056,-0.182813,0.960446]]6H ?tҿ)bп _?!???hfǿ?i6=I6];6CYJfByJ IbDRVDRfyZ=%ZR=ٔZ(#;Q-Z>9\Y\=^[Fy^dQ 5jn4fq?Q 9jn4f)frPBYhyjM?Q In?fKBCIf:if:fǂn4yrBɮrArSEjhDNOT Ignoring new targets: 33.66 m.bhRh'=Zh'= ProNav: ac range: 33.660172 m, nav range: 2.158005 m, bearing: 203.827531 deg, approach rate: 0.609793 m/s, LOS rate: 2.349205 deg/s, cmd heading: 70.974032 deg, new cmd heading: 73.824265 deg. Bh=HeadingCmd: 1.288476 target range: 33.660172 and range: 33.80 m.h?h*h"h hgfQfafidididiԑjdqZdVI@5sBɢ=[)9 EPSiA)iqqi}3> :,@?A2>2>2Wٱ2q% :AHRS rotation from veh to nav: [[0.920244,-0.302317,-0.248507],[0.330886,0.940137,0.081595],[0.208963,-0.157314,0.965187]]2Hr?'Yӿ`Ͽ;-??@c?J?"Ŀ?i2>I2];2CYBfByBIER ERER)EP"ER*;*ER:VERFA4ZEPaZ@aZ@aZ@aZ@i%Mb@Mb@Mb@!!!! !9%/$?S?Q?Y%,?y%/>%u<%KA%`A %A)%aA!Y%AbD=VD=yM>%MA=ٔM-;Q-M>9QYQ=U[FyUEDchecking for new query: numPingsReceived=3, elapsed TxPingTime=96.009224]=E>Q 5n4?Q 9n4)PBY1?Q E:yY?Q I?BCI:i:n4yɮAjhAEDNOT Ignoring new targets: 33.66 m.bhARhM:=ZhM:=} ProNav: ac range: 33.660172 m, nav range: 2.450443 m, bearing: 205.091551 deg, approach rate: 0.684007 m/s, LOS rate: 2.603479 deg/s, cmd heading: 73.824264 deg, new cmd heading: 77.159733 deg. Bh}W=HeadingCmd: 1.346691 target range: 33.660172 and range: 33.80 m.hb`?h*h"h hgfffdddjdZdI@ *tBɢ +q)I URiQ)QQQiU?U checking for new query: numPingsReceived=3, elapsed TxPingTime=96.261169Q e,Z?A6K>6>6b[Vٱ67 >AHRS rotation from veh to nav: [[0.913980,-0.328315,-0.238429],[0.348505,0.936133,0.046889],[0.207807,-0.125949,0.970027]]6HT??տ`ۄοM???o?`v ?i6K>I6];4YFgByF!IbDNVDN:yV:=%VU=ٔZI;Q-Z>9XYX=Z[Fy^MD^K=E^>`Q 5fn4by?Q 9fn4b)bPBYhyjt?Q Ij?bBCIb:ib:bn4yUBɮ]zA]TEuB*** querying acoustic contact ***iq iqjhDNOT Ignoring new targets: 33.66 m.bhRh9%=Zh9%= ProNav: ac range: 33.660172 m, nav range: 2.699856 m, bearing: 206.058908 deg, approach rate: 0.656579 m/s, LOS rate: 2.311206 deg/s, cmd heading: 77.159732 deg, new cmd heading: 79.791731 deg. BhE=HeadingCmd: 1.392628 target range: 33.660172 and range: 33.80 m.hA?h*h"h hgfffdddjdZd J@WtBɢ(Lw) Si)i;YABBtIBgBBBBB;Ba;EBBBBBC?4QD=D<E EEE"E3;*ES:VEZEBE] checking for new query: numPingsReceived=3, elapsed TxPingTime=96.765106,u?A(2f.>2h>2-Tٱ2 >AHRS rotation from veh to nav: [[0.905587,-0.359553,-0.225019],[0.370586,0.928769,0.007361],[0.206344,-0.090055,0.974327]]2H ?׿k̿?y? '~?xi?` -?i2f.>I2#];2CYFEgByF9IiMb@Mb@Mb@ 9?#~j?Mb`Y,?y%>AcA A)(^AY{AbD%VD%y5D=%=?=ٔ=e;Q-=>99YA=E[FyEVDE{g=EE>IQ 5Un4MfΞ?Q 9]n4M7)MQBY]1?Q E]:y]b ?Q I]?M#CCIM:iM:Mn4yaɮm,Aijh)5DNOT Ignoring new targets: 33.66 m.bh1Rh5@=Zh5@=e ProNav: ac range: 33.660172 m, nav range: 2.987855 m, bearing: 207.015208 deg, approach rate: 0.667891 m/s, LOS rate: 2.003868 deg/s, cmd heading: 79.791732 deg, new cmd heading: 82.382211 deg. Bhm=mHeadingCmd: 1.437841 target range: 33.660172 and range: 33.80 m.hm+ ?hq*hq"hq hqgqfqfyfydydydjdZd DJ@tBɢ"@>E EE*E"E /;*E:VE(N4ZEa@a@a@a@ԩchecking for new query: numPingsReceived=3, elapsed TxPingTime=97.017067^Ay A I I O >w#,?A2pJ>2T$>2'Rٱ2*X :AHRS rotation from veh to nav: [[0.895286,-0.393948,-0.208009],[0.395836,0.917681,-0.034291],[0.204395,-0.051637,0.977526]]2H.?s6ٿ` ʿ`_U?@]?@)?`.pG?i2pJ>I2e];2CYBbgByBKIbDJVDJyV=%VW=ٔV;Q-V>9XYX=Z[FyZ]DZ=E^>`Q 5bn4bߞ?Q 9fn4b)bEQBYdyf'?Q If?beCCIbK:ib:b4n4yjBɮnAlljh DNOT Ignoring new targets: 33.66 m.bh Rh *=Zh *= ProNav: ac range: 33.660172 m, nav range: 3.243217 m, bearing: 207.853670 deg, approach rate: 0.708315 m/s, LOS rate: 2.142500 deg/s, cmd heading: 82.382211 deg, new cmd heading: 84.698198 deg. Bh̷=HeadingCmd: 1.478262 target range: 33.660172 and range: 33.80 m.h7?h*h"h hgfffdddjdZd`tJ@%tBɢ%@v)) -Ui)))))i-VCi>checking for new query: numPingsReceived=3, elapsed TxPingTime=97.269165 I@I @I@M/@I1^A#B9>B7CBIB hBBBBB6;By;ED zD @AE  E E E "E %;*E u:VE ZE BE ~ checking for new query: numPingsReceived=3, elapsed TxPingTime=97.526329@),d?ARmj>R>RJPٱRi bAHRS rotation from veh to nav: [[0.883135,-0.429668,-0.188300],[0.423397,0.902879,-0.074465],[0.202008,-0.013963,0.979284]]RH B?ۿ9ȿ?@b?!b?ຘ@LV?iRmj>IR!];RCYngByndIbDVDyk=%C=ٔ%z;Q-%>9)Y)=5[Fy5fD9Eҕ=EE>IQ 5Un4Ms?Q 9Un4MC)M~QBYQyU/?Q IU?MCCIM;iM;Mn4yeBɮeȄAeUEjhDNOT Ignoring new targets: 33.66 m.bhRh~=Zh~= ProNav: ac range: 33.660172 m, nav range: 3.525292 m, bearing: 208.785609 deg, approach rate: 0.669616 m/s, LOS rate: 2.035215 deg/s, cmd heading: 84.698198 deg, new cmd heading: 87.268469 deg. Bh=HeadingCmd: 1.523122 target range: 33.660172 and range: 33.80 m.h?h*h"h hgfffdddjdZd@mJ@颅tBɢ3k) 0Vi)项iJPE0,A¨?A2X>2>2 Nٱ2< :AHRS rotation from veh to nav: [[0.869749,-0.463668,-0.168962],[0.451211,0.885828,-0.108248],[0.199862,0.017911,0.979660]]2H?ݿſ?`X?"?>W?`Y?i2X>I2Ƣ];0EB EBE@E@"EB*;*EB:VE@ZE@aJ@aJ@aJ@aJ@YNgByNuIi%Mb@Mb@Mb@!!!! !9%(\?"~j?9IYQ=U[FyUnDU,=EU>YQ 5en4]?Q 9en4])]QBYmf0?Q Em:ym$?Q Im?]CCI]:i]:](n4checking for new query: numPingsReceived=3, elapsed TxPingTime=98.029137yBɮ5iA5LEjhY]DNOT Ignoring new targets: 33.66 m.bhYRhe<Zhe< ProNav: ac range: 33.660172 m, nav range: 3.798055 m, bearing: 209.369730 deg, approach rate: 0.633295 m/s, LOS rate: 1.258779 deg/s, cmd heading: 87.268466 deg, new cmd heading: 88.894517 deg. BhW=HeadingCmd: 1.551502 target range: 33.660172 and range: 33.80 m.h?h*h"h hgfffdddjdZdJ@u"uBɢu}Ii)q uWiy)y顁iGF6,.ܨ?A>t>>?>tKٱ> 7= FAHRS rotation from veh to nav: [[0.855539,-0.495412,-0.150398],[0.478581,0.867553,-0.135318],[0.197516,0.043792,0.979321]]>H`?`մ߿`<@ÿ`??R7H?`k?V?i>t>I>?];>CYNgByNIbDVVDVy^=%^S=ٔb;Q-b>9`Y`=f[FyfvDf=Ef>hQ 5nn4j3?Q 9nn4j)jQBYpyr,?Q Ir?j8DCIj;ij;jn4yvBɮvJAvME B*** querying acoustic contact ***i  i jhDNOT Ignoring new targets: 33.66 m.bhRh%<Zh%<5 ProNav: ac range: 33.660172 m, nav range: 4.056185 m, bearing: 209.967610 deg, approach rate: 0.711896 m/s, LOS rate: 1.543929 deg/s, cmd heading: 88.894516 deg, new cmd heading: 90.573499 deg. Bh5r==HeadingCmd: 1.580806 target range: 33.660172 and range: 33.80 m.h=W?h9*h9"h9 h9gAfAfAfAdIdIdIjdIZdM K@颅KuBɢ`) Xi)顉i\IBYB]IB]RhBBYBYBYB]);B]l;E1@1 @1@54@1E EE-E"E*E*:VEt4ZEBEԹ ] checking for new query: numPingsReceived=3, elapsed TxPingTime=98.785065O<,N?A2>2y^ ?2)Iٱ2ug= :AHRS rotation from veh to nav: [[0.840870,-0.524269,-0.134462],[0.504619,0.849228,-0.155471],[0.195698,0.062878,0.978646]]2H@h?6@%?,?vÿ ?@?`Q?i2>I2];2CYBgByBIi Mb@Mb@Mb@     9 sh|??Mb?y&1Y )?y = `e hmA rA  A) WA Y rAbD!VD!y5Fc=%5B=ٔ5;Q-=>99Y9==[Fy=DE|=EE>IQ 5Un4M(?Q 9Un4MJ)MRBYU*?Q E]:y]#?Q I]?MDCIM ;iMC ;MYn4yaɮeAajh)-DNOT Ignoring new targets: 33.66 m.bh)Rh5<Zh5<E ProNav: ac range: 33.660172 m, nav range: 4.330332 m, bearing: 210.391258 deg, approach rate: 0.628669 m/s, LOS rate: 0.909990 deg/s, cmd heading: 90.573499 deg, new cmd heading: 91.763800 deg. BhE!=mHeadingCmd: 1.601581 target range: 33.660172 and range: 33.80 m.hm?hi*hi"hi higifqfqfqdqdydyjdyZd}FK@ԉuBɢ Kg)  Zi ) isK DC,?A2S!>27?2:Hٱ27= :AHRS rotation from veh to nav: [[0.825893,-0.550770,-0.120642],[0.529295,0.831085,-0.170719],[0.194290,0.077140,0.977906]]2H m?c⾿@???@ſ?@u?K?i2S!>I2];2CYBgByBIbDJVDJ1yRd=%RU=ٔVt;Q-V>9TYT=V[FyZDZڜ=EZ>\Q 5bo4^9?Q 9bo4^-)^KRBYdyfB+?Q If?^DCI^:i^V:^o4yjBɮjAhjh|DNOT Ignoring new targets: 33.66 m.bhRh<Zh< ProNav: ac range: 33.660172 m, nav range: 4.580230 m, bearing: 210.826976 deg, approach rate: 0.678344 m/s, LOS rate: 1.118208 deg/s, cmd heading: 91.763803 deg, new cmd heading: 92.999436 deg. Bh?=HeadingCmd: 1.623146 target range: 33.660172 and range: 33.80 m.hB?h!*h!"h! h!g!f!f)f)d)d)d1jd1Zd5tK@]uBɢekR)e'E< e[ia)aaiim3M checking for new query: numPingsReceived=3, elapsed TxPingTime=99.541084I,)?AR&?R GٱRt= ^AHRS rotation from veh to nav: [[0.810763,-0.574895,-0.110268],[0.552590,0.813810,-0.179884],[0.193152,0.084910,0.977488]]RH ?@e:@Ѯ?` ?oǿ2??G?iRy>IRa];RCYfhByfI hjAllbDrVDryv=%zE=ٔz7;Q-z>9|Y|=~[Fy~D=E> Q 5 o4 K?Q 9o4 ) ~RBYy2?Q I? ECI ;i  ; Ao4y!ɮ%A!jhamDNOT Ignoring new targets: 33.66 m.bhiRhu<Zhu< ProNav: ac range: 33.660172 m, nav range: 4.848864 m, bearing: 211.336823 deg, approach rate: 0.643734 m/s, LOS rate: 1.154055 deg/s, cmd heading: 92.999432 deg, new cmd heading: 94.443908 deg. BhF=HeadingCmd: 1.648357 target range: 33.660172 and range: 33.80 m.h^?h*h"h hgfffdddjdZd ЪK@uBɢfp) \i)  i RPԡ ;P,C?AE0 E2E2*E0"E0*E28:VE2(N4ZE0a:@a:@a:@a:@>%>>' ?>LF@ٱ>C= FAHRS rotation from veh to nav: [[0.795461,-0.596977,-0.104210],[0.574635,0.797659,-0.183124],[0.192445,0.085786,0.977551]]>Hkt?o~ic?k?@pǿ ??H?i>%>I>w];>CYN%hByRIchecking for new query: numPingsReceived=3, elapsed TxPingTime=100.045158iMb@Mb@Mb@ 9T㥛 ?Q?MbY!?yu<dAzzA ~A)YpAbDVD:2y)>=%?=ٔ:Q->9Y=[FyDς=E>Q 5o4\?Q 9o4X)RBY!?Q E:y&?Q I?IECIq ;i ;7o4yBɮANEjh  DNOT Ignoring new targets: 33.66 m.bh RhG<ZhG<% ProNav: ac range: 33.660172 m, nav range: 5.113065 m, bearing: 211.648786 deg, approach rate: 0.621581 m/s, LOS rate: 0.696025 deg/s, cmd heading: 94.443908 deg, new cmd heading: 95.331365 deg. Bh%<-HeadingCmd: 1.663846 target range: 33.660172 and range: 33.80 m.h-?h)*h)"h) h)g1f1f9f9d9d9d9jdAZdE@K@uvBɢ}s)y ^i)顉i}R ]W,a]?A2>2&?2Eٱ2i= :AHRS rotation from veh to nav: [[0.780318,-0.617335,-0.100008],[0.595262,0.782208,-0.183885],[0.191745,0.083958,0.977847]]2H]?4c ??`ǿ?@@~?J?i2>I2Q];0YB;hByBIbDJVDJβyREo=%R]=ٔV:Q-V>9TYT=V[FyVDZ=EZ>\Q 5bo4^k?Q 9bo4^)^RBY`yf-?Q If?^ECI^;i^b:^!,o4yhɮjwAhlzB*** querying acoustic contact ***ix ixjhDNOT Ignoring new targets: 33.66 m.bh Rh c<Zh c<% ProNav: ac range: 33.660172 m, nav range: 5.340534 m, bearing: 211.956812 deg, approach rate: 0.613844 m/s, LOS rate: 0.795824 deg/s, cmd heading: 95.331368 deg, new cmd heading: 96.216011 deg. Bh%=-HeadingCmd: 1.679286 target range: 33.660172 and range: 33.80 m.h-?h)*h)"h) h1g1f1f1f1d9d9d9jdAZdE`;L@?vBɢ>) 9`i)iYU<A@AA@ABBBIBhBB =BBB;B";Ei=?99I=?IAEu EuEu+Eq"Eu0;*Eur:VEu [4ZEqBEui%>95O@1 @1@1@1@9@=fAi E 2Acoustic response timeoutM Querying Benthos address 50 with 120 pings in terminal homing one-way mode.^A] I I O >x}],x?A:>:N)-?:Dٱ:= BAHRS rotation from veh to nav: [[0.765441,-0.635994,-0.098042],[0.614453,0.767612,-0.182262],[0.191176,0.079268,0.978350]]:H~~?`Z@I?G?@ZTǿ`qx?J?@N?i:>I:];8YJWhBLyJIIn=)n=iMb@Mb@Mb@ 9v?9Y=[FyD*W=E>!Q 5-o4%~?Q 9-o4%-)%SBY-?Q E5:y5%?Q I5?%ECI% ;i%e ;%Vd,1?A2t >2[3?2eDٱ2= :AHRS rotation from veh to nav: [[0.750426,-0.653797,-0.097000],[0.632870,0.753086,-0.179824],[0.190618,0.073556,0.978905]]2H`~?`ո@y@?G?wǿ+f?Բ?/S?i2t >I2M ^;2CYBhByBIbDNVDN:yR_>%Vf=ٔV:Q-V>9Z ?YZ ?=Z[FyZD^=E^>`Q 5bo4bP?Q 9fo4b)b.SBYdyf+?Q If?bFCIbl:ib:bHo4yUBɮU΂A]EEjhyDNOT Ignoring new targets: 33.66 m.bhRh%<Zh%< ProNav: ac range: 33.660172 m, nav range: 5.823856 m, bearing: 212.431155 deg, approach rate: 0.559532 m/s, LOS rate: 0.579949 deg/s, cmd heading: 96.932897 deg, new cmd heading: 97.578107 deg. Bh<HeadingCmd: 1.703059 target range: 33.660172 and range: 33.80 m.h?h*h"h hgfffdddjdZd|L@]vBɢ]d)a eaia)aauchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251068aiZBqBu6IBuhBBqBqBqBu;Bu:EB57CB57CB1B1B1C5 .4ԡ @  @ @ @ D zD ?AE  E E E "E =-;*E ;:VE ZE BE q}k,/3?A2?2De9?21Cٱ21= :AHRS rotation from veh to nav: [[0.735401,-0.670797,-0.096008],[0.650483,0.738518,-0.177378],[0.189888,0.067992,0.979449]]2Hg?*w??`RƿBN? g?W?i2?I2n];2CYBhByBIbDNVDNyRnu=%R.=ٔV:Q-Z>9`Y`=f[FyjDn9L=En>pQ 5ro4rR?Q 9vo4r)raSBYtyv1?Q Iz?rGFCIr;ir;rYo4y~Bɮ~A~FEjh!5DNOT Ignoring new targets: 33.66 m.bh1RhEG<ZhEG< ProNav: ac range: 33.660172 m, nav range: 6.099779 m, bearing: 212.765789 deg, approach rate: 0.603669 m/s, LOS rate: 0.698996 deg/s, cmd heading: 97.578104 deg, new cmd heading: 98.536498 deg. Bh<HeadingCmd: 1.719786 target range: 33.660172 and range: 33.80 m.h!?h!*hI"hI hIgQfYffdddjdZd L@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755113颥vBɢb) ci)顩iǻ\`r,ɩ?A 44Y5hBy59I 9=AiMb@Mb@Mb@ 9%6=ٔQ->9"?Y"?=[FyDE%>!Q 55o4%î?Q 95o4%)%SBY5?Q E5:y5-?Q I5?%FCI%e ;i% ;%io4yAɮE AAjhDNOT Ignoring new targets: 33.66 m.bhRh<Zh< ProNav: ac range: 33.660172 m, nav range: 6.348898 m, bearing: 213.005128 deg, approach rate: 0.559870 m/s, LOS rate: 0.516783 deg/s, cmd heading: 98.536496 deg, new cmd heading: 99.226304 deg. BhT<HeadingCmd: 1.731826 target range: 33.660172 and range: 33.80 m.hw?h*h"h hg!f!f!f)d)d)d)jd1Zd5L@] wBɢ]Ib~)Y e}bia)aaii_B B bIB 'iBB B B DB ;B :EA I I O >ڇx,㩻?A2J ?2*!E?2 Bٱ28t= :AHRS rotation from veh to nav: [[0.705034,-0.702983,-0.093501],[0.683700,0.708795,-0.173678],[0.188365,0.058522,0.980354]]2H ?~ ﷿?r?;ƿ [??_?i2J ?I2^;2CPYRiByRXIbD^VD^kyf >%fb=ٔf;Q-f>9hYh=j[FyjDj>En>DlDn<Er ErEpEp"Er1;*Er:VEpZEpBEr\9 ?Y ?=[FyDV=E>Q 5o4ʟ?Q 9o4) TBYj?Q E:y D?Q I?FCI;i;o4y ɮ mA jh15DNOT Ignoring new targets: 33.66 m.bh1Rh=Q{<Zh=Q{<M ProNav: ac range: 33.660172 m, nav range: 6.793777 m, bearing: 213.651246 deg, approach rate: 0.577346 m/s, LOS rate: 0.878868 deg/s, cmd heading: 99.997808 deg, new cmd heading: 101.099169 deg. BhM=UHeadingCmd: 1.764513 target range: 33.660172 and range: 33.80 m.hU?hQ*hQ"hQ hQgYfYfYfYdadadajdaZdm`UM@E EE*E"E<;*E:VE(N4ZEa@a@a@a@IgwBɢ=g)  bi)i6eq,?A8J_N?J$W?Jk?ٱJ7od= RAHRS rotation from veh to nav: [[0.655502,-0.750678,-0.082459],[0.731898,0.658394,-0.175619],[0.186124,0.054767,0.980999]]JH?@k?@?zƿ`?r ?Wd?iJ_N?IJ];JCY^iBy^IIb=)b4<bDfVDfkyn>%rI=ٔrn;Q-r>9v"?Yv"?=v[FyvDv7=Ez>|Q 5~o4~ן?Q 9o4~)~HTBYy1P?Q I?~5GCI~:i~:~3o4yuBɮ} A}HEjhDNOT Ignoring new targets: 33.66 m.bhRhp<Zhp<M ProNav: ac range: 33.660172 m, nav range: 7.017191 m, bearing: 214.070199 deg, approach rate: 0.494803 m/s, LOS rate: 0.898321 deg/s, cmd heading: 101.099169 deg, new cmd heading: 102.315819 deg. BhM =UHeadingCmd: 1.785748 target range: 33.660172 and range: 33.80 m.hUc?hQ*hQ"hQ hQgQfYfYfYdYddjdZd ?M@ԡwBɢnf) ai)i`h?Y-f>A)-M-!f) ))-BI-l'i-A@- 뿩-?-I?-? -`?)-G\@I-`))-U?rS6Ly濧? -ԗ)-JI-G\@i-`))checking for new query: numPingsReceived=1, elapsed TxPingTime=2.549114^A FӅ A- .AI1 IA OU >I,Ή3?Ah~N%?~#%]?~V>ٱ~i= AHRS rotation from veh to nav: [[0.638267,-0.765978,-0.076766],[0.747179,0.640416,-0.177739],[0.185306,0.056087,0.981079]]~Hl?𦳿?I~? 'ƿ ?q?d?i~N%?I~e ^;~CYiByIbD5VD50checking for new query: numPingsReceived=1, elapsed TxPingTime=2.773742y->%5*=ٔ5:Q-5>9= ?Y= ?==[Fy=DEG=EE>IQ 5Mo4M<矊?Q 9Uo4M7)MTBYQyU+V?Q IU?M{GCIM:iM:Mo4yeBɮeVAaiQiU(?AJiU=ARiU=AjiUH@bU< @ h;"@RU^_ҿf1VP?>?ZiUG\@biU`jUbl7' I?*iU=İBiU:BiU1?iU3D iU:BiU@iU@\f@ addTargetRange:: Added new target pos. range: 11.900000 m, deltaT: 59.262223 s, deltaX: -21.900000 m, approachRate: -0.369544 m/s, rangeRepo size: 4  Added new target pos. range: 11.849660 m, bearing: 179.608746 deg, lat: 36.779358 deg, lon: -121.859540 deg, deltaT: 59.262223 s, deltaX: -21.810513 m, approachRate: -0.368034 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 11.85 m.bhRhZh ProNav: ac range: 11.849660 m, nav range: 7.488224 m, bearing: 206.229315 deg, approach rate: 0.000000 m/s, LOS rate: 0.898321 deg/s, cmd heading: 102.315817 deg, new cmd heading: 103.498353 deg. BhHeadingCmd: 1.806387 target range: 11.849660 and range: 11.90 m.h7?h*h"h hgfffdddjd'@Zd A?=wBɢEw)I M`iQ)Yaaie5`k- .E?-  > - FF\?)- 3I @I- FF\) ) - "5Hޜ]Ku!V? - `Ϳ)- tEI- 3I @i- FF\) )  checking for new query: numPingsReceived=2, elapsed TxPingTime=3.055053^Am y A ؟AI I O >n,lP?ABq+?BgHc?Bb0>ٱBXn= ZAHRS rotation from veh to nav: [[0.620248,-0.781165,-0.071233],[0.762359,0.621703,-0.179706],[0.184665,0.057157,0.981138]]BH?MQ<>e??@ǿ?C?{e?iBq+?IB];@YiByIiMb@Mb@Mb@ 9S?y&1|?x&?Y/?y`;7=~bAqA  A)(RAYjAbDVDy=%8=ٔ%H:Q-%>9-"?Y-"?=-[Fy-D-Z=E5>1Q 5=o45B?Q 9eo45Ǭ)5TBYe ?Q Ee:yed?Q Ie?5GCI5`;i5;5o4ymBɮu`Au?EiiH?AJiRijiO@bF9F1mv>@ڞ!@R9(s7׿Y2TW?;B?Zi3I @biFF\jZ R(78!쿵+ Y @Z)I%&IyTUVhn93q?2iAf:i'"ij=7?*i1oBiÅBiG_q?i%iÅBiAiRa@checking for new query: numPingsReceived=2, elapsed TxPingTime=3.275072% addTargetRange:: Added new target pos. range: 11.900000 m, deltaT: 0.502989 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 5 Added new target pos. range: 11.849660 m, bearing: 186.168444 deg, lat: 36.779351 deg, lon: -121.859535 deg, deltaT: 0.502989 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 jh1=DNOT Ignoring new targets: 11.85 m.bh9RhYZhYm ProNav: ac range: 11.849660 m, nav range: 8.224703 m, bearing: 201.717612 deg, approach rate: 0.000000 m/s, LOS rate: 0.898321 deg/s, cmd heading: 103.498355 deg, new cmd heading: 104.741481 deg. BhiuHeadingCmd: 1.828084 target range: 11.849660 and range: 11.90 m.hu?hq*hy"h hgfffdddjdZd@?uxBɢ}Vd)y }`iy)yyimi!>@! @!@-4@1@=@=B5>BBIBjBBBBB;B:E9 E  E E /E "E %.;*E :VE J4ZE BE :A >e DAT read: 04:01:44.3262 LVL= 19424, 22369, 32754, 32755, AGC= 65, IDX= 512,-0.26, 2.790,-2.530, 2.187,-1.751, PHS=-1.640,-0.734,-2.389, RAW= 356.9, 49.6, CAL= 355.6, 53.5, ROT= 154.4, -53.5 i } Ygot valid direction response: 04:01:44.3262 LVL= 19424, 22369, 32754, 32755, AGC= 65, IDX= 512,-0.26, 2.790,-2.530, 2.187,-1.751, PHS=-1.640,-0.734,-2.389, RAW= 356.9, 49.6, CAL= 355.6, 53.5, ROT= 154.4, -53.5 } R#Rx 3: Read range and direction messages.U ^direction in FSK: [-0.536430,0.257015,0.803857]] Fpublishing direction and range infoy  Dp*s} r? 2?Y 3CAAIIO>>,)o?AKaW )Iѿim;`T@k]?@ Q o?)iw,@IQ okֿIw&i b(jZ?  )j]Iiw,@iQ o&checking for new query: numPingsReceived=3, elapsed TxPingTime=3.632910xޖ1?lmi?}=ٱ|u= AHRS rotation from veh to nav: [[0.601794,-0.795976,-0.065316],[0.777054,0.602450,-0.182324],[0.184475,0.058968,0.981067]]H`A? x?@DG?aVǿ`ݜ? 0? d?iޖ1?I,];YRjByI bDVD:ysE>%6=ٔM9Q-M>9IYI=U[FyUDU]Y=EU>YQ 5o4]?Q 9o4]2)]6UBYyj?Q I?]HCI] +> K> |>) @I |ᄅ b ʿ5%n? $) CȾI @i |ᄅ ԡ  checking for new query: numPingsReceived=4, elapsed TxPingTime=4.074571A1IAIQO]?%,c?ABd7?Bo?B8=ٱBy= ZAHRS rotation from veh to nav: [[0.582313,-0.810761,-0.059817],[0.791833,0.582307,-0.184172],[0.184151,0.059881,0.981072]]BH O?OV?@A?`ǿD??d?iBd7?IBU];BCYbjByb7IqiMb@Mb@Mb@ 9RQ?l?#~j?Y"?y==;_ApA )QAYGiAbD-VD- 8y==%= =ٔ=+:Q-E>9AYA=E[FyEDmI=Eu>qQ 5}o4uE?Q 9o4ug)uUBY&$?Q E:y<}?Q I?uRHCIu>;iu6;u7o4yBɮN}A@EiiZ?AJiRiji@W@b鳺Kir @W@R U,̵0q?j-?Zi@bi|jy-&SkVXAĀ@Zc6M xe2ʿHy8i?2i":iy0"i1vo?*ie\BiH|BiJ>?ie\iÅBiAi[@E addTargetRange:: Added new target pos. range: 12.200000 m, deltaT: 0.503946 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 u Added new target pos. range: 12.148398 m, bearing: 192.704244 deg, lat: 36.779346 deg, lon: -121.859523 deg, deltaT: 0.503946 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 jhuuTStopped intercept timer at range: 12.20 m.}DNOT Ignoring new targets: 12.15 m.bhyRhyZhy ProNav: ac range: 12.148398 m, nav range: 8.928273 m, bearing: 196.170534 deg, approach rate: 0.000000 m/s, LOS rate: 0.898321 deg/s, cmd heading: 106.149172 deg, new cmd heading: 107.326546 deg. BhHeadingCmd: 1.873202 target range: 12.148398 and range: 12.20 m.h?h*h"h hgfffdddjdZd%s?5rxBɢ5n)9 = _i9)YYaie(r3,*ʪ?ARDAT read: 04:01:45.3263 LVL= 26256, 32337, 32754, 32755, AGC= 65, IDX= 513, 0.29,-1.245,-0.913,-2.751,-0.453, PHS=-0.690,-0.416,-2.342, RAW= 22.4, 34.0, CAL= 20.6, 40.2, ROT= 129.4, -40.2 zYgot valid direction response: 04:01:45.3263 LVL= 26256, 32337, 32754, 32755, AGC= 65, IDX= 513, 0.29,-1.245,-0.913,-2.751,-0.453, PHS=-0.690,-0.416,-2.342, RAW= 22.4, 34.0, CAL= 20.6, 40.2, ROT= 129.4, -40.2 zR#Rx 5: Read range and direction messages.^direction in FSK: [-0.484805,0.590211,0.645458]Fpublishing direction and range infoyrz ߿a?qj䖧?YDAfQ~ )Iף0iԾT+>?X> 3?)@I3q/仿Q-AkI`蠌? ٿ)sI@i3HV>?,v?u=checking for new query: numPingsReceived=5, elapsed TxPingTime=4.601801ٱy= AHRS rotation from veh to nav: [[0.562425,-0.825011,-0.055085],[0.806124,0.561933,-0.185463],[0.183963,0.059903,0.981106]]H`c?}f@)4?Z? @ǿ@??8e?iHV>?Iu];CY%jBy%ZIbD]VD]:ym>%m<=ٔm9Q-m>9qYq=u[Fyu Dum=E}>yQ 5o4}?Q 9o4})}UBYy΁?Q I?}HCI};i};}7o4yɮk|Aii?AJiCARiCAji8W@b+cb@VI@Rrz ߿a?qj䖧?Zi@bi3j֧ެ_z#v2c@Z@:3qd4ƿ~ُ?2i4 :i"i1n<蜊?*i .BiBij=7?i .iiAisX@ addTargetRange:: Added new target pos. range: 12.300000 m, deltaT: 0.505724 s, deltaX: 0.100000 m, approachRate: 0.197737 m/s, rangeRepo size: 4  Added new target pos. range: 12.247982 m, bearing: 192.677158 deg, lat: 36.779345 deg, lon: -121.859517 deg, deltaT: 0.505724 s, deltaX: 0.099584 m, approachRate: 0.196913 m/s, posRepo size: 4 jhVStarting intercept timer at range: 12.30 m.DNOT Ignoring new targets: 12.25 m.bhRh!Zh!5 ProNav: ac range: 12.247982 m, nav range: 9.061568 m, bearing: 193.990303 deg, approach rate: 0.000000 m/s, LOS rate: 0.898321 deg/s, cmd heading: 107.326546 deg, new cmd heading: 108.493479 deg. Bh15HeadingCmd: 1.893568 target range: 12.247982 and range: 12.30 m.h=s`?h99*h9"hA hAgAfAfIfIdIdIdQjdm(@Zdu?xBɢ &k) ^i)   i $u_(, ɪ?A";ɰ";BDDAT read: Rx Time:04:01:45.8264 FTRx dataTimestamp_ set to:1761537707.158259JPDAT read: Bearing 334.5, 37.5 (Local) J~Local bearing/azimuth received: Bearing 334.5, 37.5 (Local) RDAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed -0.4 \^CG5hAIu9uhAYuʕADAT read: 04:01:45.8264 LVL= 21392, 14049, 28658, 28915, AGC= 67, IDX= 2,-0.11,-1.691,-1.697, 2.938,-1.053, PHS=-0.535,-0.598,-2.336, RAW= 31.8, 34.7, CAL= 29.5, 40.8, ROT= 120.5, -40.8 Ygot valid direction response: 04:01:45.8264 LVL= 21392, 14049, 28658, 28915, AGC= 67, IDX= 2,-0.11,-1.691,-1.697, 2.938,-1.053, PHS=-0.535,-0.598,-2.336, RAW= 31.8, 34.7, CAL= 29.5, 40.8, ROT= 120.5, -40.8 R#Rx 6: Read range and direction messages.^direction in FSK: [-0.384204,0.652249,0.653421]Fpublishing direction and range infoy@BT$̖ؿ3ջY9? BH?YBHA@BSB6Bo Bp)BCIBiBBBq?B ?B? BK6?)B@IBK6@@C&K?h~?=ٱv=Bl??LJsK+9? Bſ)BeIB@iBK6@@checking for new query: numPingsReceived=6, elapsed TxPingTime=5.127072 AHRS rotation from veh to nav: [[0.521364,-0.852065,-0.046528],[0.833205,0.520081,-0.187845],[0.184255,0.059168,0.981096]]H?@D@ҧ ?? O ȿক?@RK?#e?iC&K?I5^;CYjByIiMb@Mb@Mb@ 9V-?㥛 ?ʡE?Y-?y==Q`AqA A)OAYiA e9Y=[FyD=E>Q 5o4+?Q 9o4)oVBY/?Q E:yڎ?Q I?HCI89Y=[FyDE>Q 5p45?Q 9p4)VBYyQ I?BICI:i:9p4yڔBɮ'zA7Ei iKꪻ?AJiHARiHAji M@b6H!@WD h@RT ׿[ ?h/d#?ZiG\@bi@.jWZ+$x8xfgZƳ@Z+W6鿞qK0K?2i@:i]!"i䜊?*i"{lBioBi1n<蜊?i ioBi&Ai5uZ@u addTargetRange:: Added new target pos. range: 12.600000 m, deltaT: 0.502609 s, deltaX: 0.100000 m, approachRate: 0.198963 m/s, rangeRepo size: 4  Added new target pos. range: 12.546717 m, bearing: 184.270561 deg, lat: 36.779337 deg, lon: -121.859517 deg, deltaT: 0.502609 s, deltaX: 0.099580 m, approachRate: 0.198126 m/s, posRepo size: 4 jhVStarting intercept timer at range: 12.60 m.DNOT Ignoring new targets: 12.55 m.bhRhZh ProNav: ac range: 12.546717 m, nav range: 10.417917 m, bearing: 195.573623 deg, approach rate: 0.000000 m/s, LOS rate: 0.898321 deg/s, cmd heading: 110.043719 deg, new cmd heading: 111.240025 deg. BhHeadingCmd: 1.941505 target range: 12.546717 and range: 12.60 m.h:?h*h"h hgfffdddjd@33)@Zdy?]yBɢ]Hl)Y ]^iY)aaaie&Ty`,?AEF EFEF(ED"EFO6;*EF;:VEFc44ZEDaR@aR@aR@aR@naX?nw+?na>ٱnz= ~AHRS rotation from veh to nav: [[0.477163,-0.878067,-0.036242],[0.859154,0.474766,-0.190924],[0.184851,0.059965,0.980935]]nH@׉?  O`0~?`b?5pȿ`1??c?inaX?Inl"^;nCYUkByIDDAT read: Rx Time:04:01:46.8267 TRx dataTimestamp_ set to:1761537708.164731PDAT read: Bearing 339.6, 42.8 (Local) ~Local bearing/azimuth received: Bearing 339.6, 42.8 (Local) DAT read: Range 11 to 50 : 12.8 m (trip time 8.5 ms) speed -0.4 EDAT read: 04:01:46.8267 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 501,-0.05,-1.145,-1.327,-2.861,-0.756, PHS=-0.287,-0.526,-2.149, RAW= 36.8, 30.8, CAL= 34.1, 36.6, ROT= 115.9, -36.6 MYgot valid direction response: 04:01:46.8267 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 501,-0.05,-1.145,-1.327,-2.861,-0.756, PHS=-0.287,-0.526,-2.149, RAW= 36.8, 30.8, CAL= 34.1, 36.6, ROT= 115.9, -36.6 mR#Rx 8: Read range and direction messages.u^direction in FSK: [-0.350672,0.722181,0.596225]uFpublishing direction and range infoyLiqֿƷa?|(F?YLA )Ii7 l$? ?:\? Ƈ#?)(v@IƇ#?ngIhR(f? )@ I(v@iƇ#checking for new query: numPingsReceived=8, elapsed TxPingTime=6.091222iMb@Mb@Mb@ 9zG? ףp= ?i|?5?Y 7?yQ=q=$^AoA  A)NAY(hAbDUVDUβyeP=%e6=ٔeQ->9Y=[Fy(D=E>Q 5p4??Q 9p4)'WBY9?Q E:y?Q I ?ICIC'xe@RLiqֿƷa?|(F?Zi(v@biƇ#jj0$VwSP@ZyhnV!3|~ wo?2ik:i'"i0˜?*i64BiBi䜊?i iBi%Ai\T@ addTargetRange:: Added new target pos. range: 12.800000 m, deltaT: 0.503863 s, deltaX: 0.200000 m, approachRate: 0.396933 m/s, rangeRepo size: 4  Added new target pos. range: 12.745871 m, bearing: 185.016601 deg, lat: 36.779336 deg, lon: -121.859503 deg, deltaT: 0.503863 s, deltaX: 0.199154 m, approachRate: 0.395254 m/s, posRepo size: 4 jhTStopped intercept timer at range: 12.80 m.DNOT Ignoring new targets: 12.75 m.bhRh!Zh!5 ProNav: ac range: 12.745871 m, nav range: 10.367570 m, bearing: 190.248147 deg, approach rate: 0.000000 m/s, LOS rate: 0.898321 deg/s, cmd heading: 111.240026 deg, new cmd heading: 112.491775 deg. Bh15HeadingCmd: 1.963352 target range: 12.745871 and range: 12.80 m.h}O?hy*hy"hy hygyfffdddjd)@Zd?KyBɢg) ^_i)i{A >I I O >,!?A>m@_?>}?>™>ٱ>|= FAHRS rotation from veh to nav: [[0.454328,-0.890304,-0.030755],[0.871401,0.451323,-0.192272],[0.185060,0.060555,0.980860]]>H? ^},~?`z?[ȿ? ?3c?i>m@_?I>^;>CYNkByNIB^4>B\B^IB^kBB^ =B\B\B^;B^:EbDVVDVyE >%Ei=ٔM"Q-M?9QYQ=U[FyU/DUF=E]?YQ 5ep4]F?Q 9ep4]})]kWBYiymo?Q Im?]ICI]H;i];]#p4yqɮ}xAyB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 12.75 m.bhԩRhTx=ZhTx= ProNav: ac range: 12.745871 m, nav range: 10.491502 m, bearing: 191.370841 deg, approach rate: 0.388064 m/s, LOS rate: 3.473713 deg/s, cmd heading: 112.491774 deg, new cmd heading: 115.816123 deg. Bh>HeadingCmd: 2.021373 target range: 12.745871 and range: 12.80 m.h,^@h*h"h hgfffdddjdZd1? lyBɢ )"= ]^i)iωU%? Uܸ?)U@IUܸQQUCb &?WYW쿀y? U@)UIU@iUܸQQchecking for new query: numPingsReceived=9, elapsed TxPingTime=6.572332E EE+E"E/;*EV:VE [4ZEBEˈ9  checking for new query: numPingsReceived=9, elapsed TxPingTime=6.809174Q7,f;?A=f?=?=:>ٱ= }= UAHRS rotation from veh to nav: [[0.431132,-0.901927,-0.025539],[0.883052,0.427585,-0.193365],[0.185321,0.060814,0.980794]]=H ?@&A?]?@,ȿ?"? b?i=f?I=hN^;=CYekByeIiMb@Mb@Mb@ 9~jt?l?l?Y;?y==[AdmA ~A)MAYfAbDVDy.=%1=ٔgQ->9Y=[Fy8D%cj=E%>!Q 55p4%oP?Q 95p4%t)%WBY5&dDZ@Z" e ddE?2i@:i7"i?*i?BibBii"{liiN(AiR@- addTargetRange:: Added new target pos. range: 13.200000 m, deltaT: 0.505036 s, deltaX: 0.400000 m, approachRate: 0.792022 m/s, rangeRepo size: 4 = Added new target pos. range: 13.144193 m, bearing: 186.107782 deg, lat: 36.779336 deg, lon: -121.859494 deg, deltaT: 0.505036 s, deltaX: 0.398322 m, approachRate: 0.788700 m/s, posRepo size: 4 jhAeDNOT Ignoring new targets: 13.14 m.bhaRhmZhi} ProNav: ac range: 13.144193 m, nav range: 10.519135 m, bearing: 188.624047 deg, approach rate: 0.000000 m/s, LOS rate: 3.473713 deg/s, cmd heading: 115.816130 deg, new cmd heading: 120.862193 deg. BhyHeadingCmd: 2.109443 target range: 13.144193 and range: 13.20 m.h@h*h"h hgfffdddjd`ff*@Zdc?AMyBɢM\)Mb< U `iQ)QQi;€u6? uQ>)u?@IuQqqu0aM?S-gm'#uy? uۼ)uYԾIu?@iuQiqqchecking for new query: numPingsReceived=10, elapsed TxPingTime=7.098998P@ @@4@@@hAԑ ^A A zA IQ Ia Ou >S,W?Arwl?rR?r ?ٱr&= 5AHRS rotation from veh to nav: [[0.407547,-0.912986,-0.019021],[0.894131,0.403190,-0.194853],[0.185567,0.062405,0.980648]]rH??.7%z?? ȿ`?@?wa?irwl?Ir ^;rCYEkByEIQchecking for new query: numPingsReceived=10, elapsed TxPingTime=7.311021bDVD:y<%M=ٔF%Q->9Y=[Fy@D=E>Q 5p4?X?Q 9p4m)XBY y ?Q IM?mJCI0K?AJiRijic S@b?+St 5$@USR,@Rڿ髸?ޗڏ?Zi?@biQj Tk' epТ}}@Z&3UOf#ѧ?2i:i];"imr}?*iZ(Bi2Bi0˜?iZ(ii.AifS@M addTargetRange:: Added new target pos. range: 13.200000 m, deltaT: 0.505928 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 ] Added new target pos. range: 13.144193 m, bearing: 188.929853 deg, lat: 36.779334 deg, lon: -121.859494 deg, deltaT: 0.505928 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 jhYԁDNOT Ignoring new targets: 13.14 m.bhRhZh ProNav: ac range: 13.144193 m, nav range: 10.937257 m, bearing: 189.685250 deg, approach rate: 0.000000 m/s, LOS rate: 3.473713 deg/s, cmd heading: 120.862192 deg, new cmd heading: 125.478309 deg. BhHeadingCmd: 2.190010 target range: 13.144193 and range: 13.20 m.h) @h*h"h hgfffdddjdZd}?EyBɢMs)I MzbiI)IQQiU7U 5> U >)U {F@IU Q Q U 42~?$O@%? U ȿ)U ~վIU {F@iU Q Q  checking for new query: numPingsReceived=11, elapsed TxPingTime=7.581459 ^A AM .AIQ Ia Oq f,t?AHRUs?Rq?R "?ٱR`= nAHRS rotation from veh to nav: [[0.383986,-0.923261,-0.012007],[0.904499,0.378732,-0.196070],[0.185571,0.064428,0.980516]]RH8?Z했?&=? ɿ?@^~?c`?iRUs?IR|$^;RCYvkByvII5=)5=bDEVDE1yB=%:=ٔzQ->9 ?Y ?=[FyIDt=E>Q 5p4!`?Q 9p4e)XXBYyu?Q I?JCI:i;|Qp4yAɮmwAichecking for new query: numPingsReceived=11, elapsed TxPingTime=7.818235iaieQk?AJieEZARieEZAjieY@beҨdV0i$@뽎˳@Re.!ݿH^qQ?(%?Zie{F@biejels'fdM W @ZeL>쿞iͿ4/"?2iekJ:ie+?"ieHq?*ie BiesBie?iaiebBie=AieT@ addTargetRange:: Added new target pos. range: 13.700000 m, deltaT: 0.501160 s, deltaX: 0.500000 m, approachRate: 0.997685 m/s, rangeRepo size: 4  Added new target pos. range: 13.642081 m, bearing: 194.826677 deg, lat: 36.779327 deg, lon: -121.859494 deg, deltaT: 0.501160 s, deltaX: 0.497889 m, approachRate: 0.993472 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 13.64 m.bhRhZhE ProNav: ac range: 13.642081 m, nav range: 11.861962 m, bearing: 190.397011 deg, approach rate: 0.000000 m/s, LOS rate: 3.473713 deg/s, cmd heading: 125.478307 deg, new cmd heading: 130.393360 deg. BhAuHeadingCmd: 2.275794 target range: 13.642081 and range: 13.70 m.hu@hq*hq"hq hqgyfyfyfydddjd`ff+@ZdS[? zBɢzAf) ci)irIM %iM 1M shῩM k>M />M %> M G\?)M q@IM G\I I M j( H"? M YԿ)M 6޾IM q@iM G\ P@  @ @ o0@ I I = checking for new query: numPingsReceived=12, elapsed TxPingTime=8.132845A y^AM#AU?AQchecking for new query: numPingsReceived=12, elapsed TxPingTime=8.319337A}؟AԡIIO'?v",읫?A]`]?]H?]y?ٱ] H= mAHRS rotation from veh to nav: [[0.336763,-0.941589,0.000732],[0.923056,0.329981,-0.197688],[0.185899,0.067250,0.980265]]]H`?! H??`g?`Mɿ?N7? T^?i]`]?I]77^;]CY}kBy}IPExceeded connect timeout, disconnecting.i Mb@Mb@Mb@     9  ףp= ?{Gz?y&1?Y Q8?y #= `e< ZA IlA ~A) KA Y zdAbD%VD%y<;%<ٔQ->9"?Y"?=[FyWD=E>BBBbIBhlBBBBB;B:EQ 5p4k?Q 9p4Y)XBY8?Q E:yZ?Q I?9KCI;&b@b xm#@6lƺ@R~~biMM4?xފj?Ziq@biG\jdCsb&|x8@Z2LA숼;ֿ)?2iǛ:i6"iC?*iBiBiiiBipAAi_V@ addTargetRange:: Added new target pos. range: 13.800000 m, deltaT: 0.504976 s, deltaX: 0.100000 m, approachRate: 0.198030 m/s, rangeRepo size: 4  Added new target pos. range: 13.741654 m, bearing: 203.102918 deg, lat: 36.779327 deg, lon: -121.859494 deg, deltaT: 0.504976 s, deltaX: 0.099573 m, approachRate: 0.197184 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 13.74 m.bh Rh Zh  ProNav: ac range: 13.741654 m, nav range: 12.089935 m, bearing: 192.423359 deg, approach rate: 0.000000 m/s, LOS rate: 3.473713 deg/s, cmd heading: 130.393366 deg, new cmd heading: 136.696303 deg. BhEHeadingCmd: 2.385801 target range: 13.741654 and range: 13.80 m.hE@hA*hA"hI hIgIfIfQfQdQdQdQjd]+@Zd]@`?颵OzBɢrP)E EE*E"Ey>;*E:VE(N4ZEBEU>0> K ?) @IK knɿ뿯i i? )I @iK checking for new query: numPingsReceived=13, elapsed TxPingTime=8.614814) ]< O@  @ @ /@ Q echecking for new query: numPingsReceived=13, elapsed TxPingTime=8.825193ԑ^AFӅA)I9IIOU?f ,aī?A(6?6;|?6L?ٱ6y҉= RAHRS rotation from veh to nav: [[0.313571,-0.949554,0.004524],[0.931183,0.306564,-0.197275],[0.185936,0.066073,0.980338]]6H@? b!r???ྞ?K@ɿ?!?`^?i6?I6];6CYZkByZI-only read 2 of 4 data items for bottom velocity. Device response is::BS, +27, +69,A a-@a- a-@a- a-@a- a-@a5 bD5VD5JyEE=%E=ٔMzQ-M>9QYQ=U[FyUbDU8=E]>YQ 5ep4]t?Q 9ep4]O)]YBQ Am+:YiQ Emn:ym?Q Im?]KCI] ;i][ ?]yp4y}Bɮ}6vA}&Eiiի?AJi`ARi`AjiDl@b s .!@?B@RVXa CSؔ?]*W?Zi @biK jS0j}%]LZ[p@ZG)>}弥  ޿'n2?2i:i+"i7뜊?*i%BiRBii iiIAi]@DqzDq addTargetRange:: Added new target pos. range: 14.100000 m, deltaT: 0.503075 s, deltaX: 0.300000 m, approachRate: 0.596333 m/s, rangeRepo size: 4  Added new target pos. range: 14.040386 m, bearing: 211.518216 deg, lat: 36.779327 deg, lon: -121.859506 deg, deltaT: 0.503075 s, deltaX: 0.298732 m, approachRate: 0.593812 m/s, posRepo size: 4 jhE EE.E"E8;*E:VEـ4ZEa@a@a@a@DNOT Ignoring new targets: 14.04 m.bhRh Zh  ProNav: ac range: 14.040386 m, nav range: 12.564690 m, bearing: 198.563245 deg, approach rate: 0.000000 m/s, LOS rate: 3.473713 deg/s, cmd heading: 136.696305 deg, new cmd heading: 142.592793 deg. BhEHeadingCmd: 2.488714 target range: 14.040386 and range: 14.10 m.hEG@hA*hA"hA hIgIfIfIfQdQdQdQjdU@33,@Zd] ?DDAT read: Rx Time:04:01:49.8276 TRx dataTimestamp_ set to:1761537711.188762PDAT read: Bearing 5.5, 27.8 (Local) ~Local bearing/azimuth received: Bearing 5.5, 27.8 (Local) DAT read: Range 11 to 50 : 14.1 m (trip time 9.4 ms) speed -0.5 DAT read: 04:01:49.8276 LVL= 22000, 32753, 32754, 32755, AGC= 63, IDX= 511,-0.14,-0.907,-0.293,-1.972,-0.283, PHS=-0.522, 0.035,-1.733, RAW= 12.1, 26.6, CAL= 10.9, 31.7, ROT= 139.1, -31.7 Ygot valid direction response: 04:01:49.8276 LVL= 22000, 32753, 32754, 32755, AGC= 63, IDX= 511,-0.14,-0.907,-0.293,-1.972,-0.283, PHS=-0.522, 0.035,-1.733, RAW= 12.1, 26.6, CAL= 10.9, 31.7, ROT= 139.1, -31.7 T#Rx 14: Read range and direction messages.^direction in FSK: [-0.643089,0.557061,0.525472] Fpublishing direction and range infoԁy.L;p?k?YU )Iˡi)\=ݿ@X>,>B>  ?)O`@I wѿ/š 7¡݊? &)IO`@i -checking for new query: numPingsReceived=14, elapsed TxPingTime=9.091338EzBɢEc)A E&jiI)IIIiMZB!B%IB%lBB!B!B!B%^;B%:EAII)1O=?(+,t櫻?A2ņ?2Z?2?ٱ2:= JAHRS rotation from veh to nav: [[0.290158,-0.956935,0.009125],[0.938703,0.282749,-0.197206],[0.186133,0.065786,0.980320]]2H?6?@ ??` >ɿ 5?@_װ?`^?i2ņ?I2];0Yb lByb*IbDvVDvE EE+E"E=;*E:VE [4ZEBE9Y=[FymD;=E>Q 5p4|?Q 9p4F)jYBQ A :YQ EA:yé?Q I?LCI;i?p4yɮuAii̫?AJiRijis@bRP"/$I@L{@R.L;p?k?ZiO`@bi j2_$kbFyD@Z>'Kٗd'&?2i:i "i.?*i@. Bi(BiC?iiiZNAie@ addTargetRange:: Added new target pos. range: 14.100000 m, deltaT: 0.503856 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DDAT read: Rx Time:04:01:50.3279 TRx dataTimestamp_ set to:1761537711.693749PDAT read: Bearing 359.8, 41.7 (Local) ~Local bearing/azimuth received: Bearing 359.8, 41.7 (Local)  DAT read: Range 11 to 50 : 14.6 m (trip time 9.7 ms) speed -0.4 !EDAT read: 04:01:50.3279 LVL= 23120, 32753, 32754, 32755, AGC= 63, IDX= 514,-0.44,-1.638,-1.623,-3.008,-1.319, PHS=-0.217,-0.258,-1.733, RAW= 31.4, 27.6, CAL= 28.9, 32.5, ROT= 121.1, -32.5 MYgot valid direction response: 04:01:50.3279 LVL= 23120, 32753, 32754, 32755, AGC= 63, IDX= 514,-0.44,-1.638,-1.623,-3.008,-1.319, PHS=-0.217,-0.258,-1.733, RAW= 31.4, 27.6, CAL= 28.9, 32.5, ROT= 121.1, -32.5 UT#Rx 15: Read range and direction messages. Added new target pos. range: 14.040380 m, bearing: 217.562738 deg, lat: 36.779330 deg, lon: -121.859520 deg, deltaT: 0.503856 s, deltaX: -0.000006 m, approachRate: -0.000011 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 14.04 m.bh^direction in FSK: [-0.435640,0.722168,0.537300]Fpublishing direction and range infoysEۿh9?Ef1?YiAPZ )I?5^iK ?Ϣ>^ ? 6?)E@I6RhZh ProNav: ac range: 14.040380 m, nav range: 12.897014 m, bearing: 205.825845 deg, approach rate: 0.000000 m/s, LOS rate: 3.473713 deg/s, cmd heading: 142.592794 deg, new cmd heading: 148.033856 deg. BhHeadingCmd: 2.583678 target range: 14.040380 and range: 14.10 m.hZ%@h*h"h hTG?p3\쿮Z? ƿ);BIE@i6%checking for new query: numPingsReceived=15, elapsed TxPingTime=9.623053g)f)f)f)d1d1d1jd5@33-@Zd5@?zBɢ8\) ki)ikL,?AV?V"?Vj?ٱVf= nAHRS rotation from veh to nav: [[0.243725,-0.969703,0.016585],[0.951872,0.235897,-0.195682],[0.185841,0.063479,0.980527]]VHb2??@u?1?  ɿ`?)@?z`?iV?IV];VCYvlByv'Iaa aa aa aa iMb@Mb@Mb@ 9'1Z?y&1| rhY"?y`廙CVAgA rzA)GGAE EE.E"E;;*E:VEـ4ZEa@a@a@a@Y`A 4<4<bD%VD%y5z&%5 =ٔ=:Q-=>99Y9=E[FymxD}=E>GliA }9liAYfAQ 5p4ȃ?Q 9%p4~=)YBQ A%T:Y-"?Q E-:y-ǧ?Q I-?VLCI#;i?;'p4yAɮEuAAiiD?AJi4jARi4jAji}c@b|~ށ||X$%@KHu@RsEۿh9?Ef1?ZiE@bi6j.V*TY' 7 vT=u@Zp,*b|]ֿ|!Ux?2i:i:"i?*i BiiBi?DAT read: 04:01:50.8280 LVL= 24240, 26017, 26770, 26723, AGC= 67, IDX= 2, 0.17, 2.477, 3.093, 1.225, 3.044, PHS=-0.464, 0.095,-1.863, RAW= 13.9, 24.3, CAL= 12.8, 29.1, ROT= 137.2, -29.1 Ygot valid direction response: 04:01:50.8280 LVL= 24240, 26017, 26770, 26723, AGC= 67, IDX= 2, 0.17, 2.477, 3.093, 1.225, 3.044, PHS=-0.464, 0.095,-1.863, RAW= 13.9, 24.3, CAL= 12.8, 29.1, ROT= 137.2, -29.1 Z#Rx 17: Read direction message, but no range.^direction in FSK: [-0.641113,0.593677,0.486335]iySf?v ?^eh ch)CIhi\=vUlx>%>d> "?)@@I"db7)п2)<KX? )<پI@@i"checking for new query: numPingsReceived=17, elapsed TxPingTime=10.113572i(BiQAi1g@- addTargetRange:: Added new target pos. range: 14.700000 m, deltaT: 0.781469 s, deltaX: 0.599999 m, approachRate: 0.767784 m/s, rangeRepo size: 4 e Added new target pos. range: 14.637843 m, bearing: 203.661090 deg, lat: 36.779330 deg, lon: -121.859520 deg, deltaT: 0.781469 s, deltaX: 0.597463 m, approachRate: 0.764538 m/s, posRepo size: 4 jhamDNOT Ignoring new targets: 14.64 m.bhiRhiZhi ProNav: ac range: 14.637843 m, nav range: 13.099732 m, bearing: 206.975702 deg, approach rate: 0.000000 m/s, LOS rate: 3.473713 deg/s, cmd heading: 148.033859 deg, new cmd heading: 153.705629 deg. BhHeadingCmd: 2.682669 target range: 14.637843 and range: 14.70 m.h۰+@h*h"h hgfffdddjd`ff-@ZdV ?%zBɢ%!n)) -Moi))))QiU1,_"?A4<ɰ4<6?6?6>ٱ6l-= ^AHRS rotation from veh to nav: [[0.221227,-0.975012,0.020237],[0.957439,0.213201,-0.194566],[0.185390,0.062419,0.980681]]6H+Q? M3@?V? .J?ȿܺ?`k? a?i6?I6 ^;6CBxBxBzIBzlBBz =BxBxBz[;Bz:EBBBB =B =Ck4Yf0lByM@IbD]VD]kymb=%mC=ٔuՏ:Q-u>9u ?Y} ?=}[Fy}D}k=E}>Q 5p4?Q 9p4'7)YBYyʪ?Q I?LCIJ;i;p4yɮuAii74?AJi+rARi+rAjit@b$O\Lh#8!@| {q@RSf?v ?Zi@@bi"jbr$%|"zB!8TG@Znj"  I?2i :i$,"i' ?*iM)BiBi7뜊?i%iiUAiyo@M addTargetRange:: Added new target pos. range: 15.200000 m, deltaT: 0.501706 s, deltaX: 0.500000 m, approachRate: 0.996600 m/s, rangeRepo size: 4 ] Added new target pos. range: 15.135729 m, bearing: 219.303325 deg, lat: 36.779337 deg, lon: -121.859535 deg, deltaT: 0.501706 s, deltaX: 0.497886 m, approachRate: 0.992385 m/s, posRepo size: 4 jhaDNOT Ignoring new targets: 15.14 m.bhRhZh ProNav: ac range: 15.135729 m, nav range: 13.314422 m, bearing: 214.427189 deg, approach rate: 0.000000 m/s, LOS rate: 3.473713 deg/s, cmd heading: 153.705635 deg, new cmd heading: 157.684883 deg. BhHeadingCmd: 2.752120 target range: 15.135729 and range: 15.20 m.h"0@h *h "h  h g ff!fdIdQdQjdU`ff.@Zd]@J?E EE)E"E9;*E :VEFA4ZEBEjI;i">w>+>s> |>):\@I|ᄅO@ @@@X`Ͽ%sy$ W? e)ǾI:\@i|ン%checking for new query: numPingsReceived=19, elapsed TxPingTime=10.624395Iԁ ^A #A A ?A ؟AI I O- >LT,ٱK= AHRS rotation from veh to nav: [[0.199075,-0.979681,0.024393],[0.962375,0.190739,-0.193525],[0.184940,0.062001,0.980792]]H`F{?Y??&j?oȿ@? ?b?i?Im];CY>lByHIԉiMb@Mb@Mb@ 9zG?Mb rhY ?ylUAdA ExA)EAY]AbD=VD= yMo<%M%=ٔUq:Q-U>9U"?YU"?=U[FyUD]>=E]>aQ 5p4e?Q 9p4e/)eYBYS?Q E:y/?Q I?eLCIe;ieW;eGp4yBɮGtAEi1i5>?AJi1Ri1ji5;u@b5m(#("@C%L@R5YIK0h[v?j-?Zi5:\@bi5|j5m,2%FM!)F@Z5Il⿬F5?2i5X:i5."i5#Q?*i5mnBi5 Bi5#Q?i5@. i1i5]Ai5Ϩs@M addTargetRange:: Added new target pos. range: 15.200000 m, deltaT: 0.506153 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 ] Added new target pos. range: 15.135729 m, bearing: 219.395666 deg, lat: 36.779338 deg, lon: -121.859543 deg, deltaT: 0.506153 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 jhYDNOT Ignoring new targets: 15.14 m.bhRhZh ProNav: ac range: 15.135729 m, nav range: 13.868810 m, bearing: 218.135243 deg, approach rate: 0.000000 m/s, LOS rate: 3.473713 deg/s, cmd heading: 157.684889 deg, new cmd heading: 162.879273 deg. BhHeadingCmd: 2.842780 target range: 15.135729 and range: 15.20 m.h5@h*h"h hgf ffdd9dAjdAZdMmP?Թ颽]{Bɢr) qi)iݛ←>㭪>;> >)@I;H MxjɿuۥAde{? Y+)W'I@i; checking for new query: numPingsReceived=21, elapsed TxPingTime=11.120548 @  @ @ /@  ^A5 AIIO?f ,2]?A(JDDAT read: Rx Time:04:01:52.3286 RTRx dataTimestamp_ set to:1761537713.481150fPDAT read: Bearing 26.3, 36.9 (Local) f~Local bearing/azimuth received: Bearing 26.3, 36.9 (Local) MDAT read: Range 11 to 50 : 15.6 m (trip time 10.4 ms) speed -0.4 UZ#Rx 22: Read range message, but no direction.yLYNyAL]checking for new query: numPingsReceived=22, elapsed TxPingTime=11.392671qq  ? Pٱ? Y=ٱ C= AHRS rotation from veh to nav: [[0.177266,-0.983736,0.028972],[0.966728,0.168533,-0.192442],[0.184429,0.062122,0.980881]] Hࣰ?z?`o?}?ȿ_?lί?_c?i  ?I ]; CYMelByM`IY]AAbDVDyŦ=%/=ٔt:Q->9Y=[FyDC=E>Q 5p4N?Q 9=p4()#ZBYAyE?Q IE?&MCI.Be6CBeIBelBBe =BaBeDBeY;Be:EyiLiN)^?AJiNxARiNxAjiNfr@bN1(#i1 #$@f-JG@RN[Nf3俖uo?dK?ZiN@biN;jN_~'=uu!Fj*@ZNfU&N1pRm=$?2iNO:iN<"iN?*iNGgBiNBiLiNGgiNBiNbAiNt@= addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.503060 s, deltaX: 0.400001 m, approachRate: 0.795135 m/s, rangeRepo size: 4 M Added new target pos. range: 15.534010 m, bearing: 217.008503 deg, lat: 36.779338 deg, lon: -121.859544 deg, deltaT: 0.503060 s, deltaX: 0.398281 m, approachRate: 0.791717 m/s, posRepo size: 4 jhIuDNOT Ignoring new targets: 15.53 m.bhqRhqZhq ProNav: ac range: 15.534010 m, nav range: 14.125159 m, bearing: 219.027612 deg, approach rate: 0.000000 m/s, LOS rate: 3.473713 deg/s, cmd heading: 162.879275 deg, new cmd heading: 167.906053 deg. BhHeadingCmd: 2.930513 target range: 15.534010 and range: 15.60 m.h;@h*h"h hgfffdddjd@33/@ZdL?m{Bɢu84x)y }riy)yyyie%X鿩%%>%r>%Ƈ> %ӱ>)%=@I%ӱ!%N +Eƿ,6? %;)%I%=@i%ӱ}checking for new query: numPingsReceived=23, elapsed TxPingTime=11.625636 ^Ae  A .AI I O >,cz?A:6?:|?:)=ٱ:4(= VAHRS rotation from veh to nav: [[0.155911,-0.987215,0.033150],[0.970543,0.146865,-0.190989],[0.183678,0.061951,0.981032]]:H ? C@ ??y?@QrȿĂ??d?i:6?I:];:CY^lBy^sIbDfVDfk2y~=%M=ٔ:Q->9- ?Y5 ?==[Fy=DMc=EU>qQ 5p4uy?Q 9p4u")uHZBYy?Q I?ubMCIuE߿EX>EGt>E@> Eq>)E@IEqAAEv.VĿ}Vf_rA? E ޿)E[tIE@iEqAAEchecking for new query: numPingsReceived=24, elapsed TxPingTime=11.938770ddIjdM/@ZdM ?额{BɢZ䃾) si)顡ip2K׿2%>2|o>26> 2'g>)2t@I2'g002xbm)?ƿt֜? 2X)2oI2t@i2'g AHRS rotation from veh to nav: [[0.113487,-0.992691,0.041055],[0.976704,0.103894,-0.187762],[0.182124,0.061407,0.981356]]EH ?@?)A?Ә?ȿ O?p? Eg?iE!V?IE];ECYlByI00checking for new query: numPingsReceived=25, elapsed TxPingTime=12.454444B 3>B 7CB IB  mBB B B DB A;B x:EiMb@Mb@Mb@ 9Cl?y&1|?Y?y̼`;VTA~bA )DAY\A <<bD%VD%yy]A=%]<ٔ];Q-]}>9aYa=e[FyeDms=Em>qQ 5p4u?Q 9p4u)uZBY?Q E:y^?Q I?uMCIum%ҿQ >Ϣv>ޏ> Ð>)W@IÐ iH̿Dr<;j? o)tuIW@iÐchecking for new query: numPingsReceived=26, elapsed TxPingTime=13.008831aIIO,?%R2,ɬ?Ab ?b ?b:ٱb2~= jAHRS rotation from veh to nav: [[0.092174,-0.994731,0.044869],[0.979075,0.082329,-0.186102],[0.181428,0.061084,0.981505]]DhzDjAAbEe|a4jEe]4rEe0E~ E|E~%E|"E~a?;*E|VE~ 4ZE|a @a @a @a @bH? ?@T??3ǿ9?@jF?}h?ib ?Iby];bCY=lBy=IiuMb@Mb@Mb@qqqq q9ukt?S㥛?Yu ?yqu/% =ٔ:Q->9Y=[FyDchecking for new query: numPingsReceived=26, elapsed TxPingTime=13.127042=E>Q 5q4?Q 9q4>)ZBYo?Q E:yض?Q I?NCI:i3:q4y ɮ WqA iiQ?AJiAARiAAji(w@b)Y%dCį/&@@RiINgH`$??ZiW@biÐjoS͢'$0 @Z^A  Mҿ |o> ܸ> f> 6>) f$@I 6 ;ѿy/Y? A<) dI f$@i 6  checking for new query: numPingsReceived=27, elapsed TxPingTime=13.428139I I O >x8,ʈ㬻?AB`A`Bf2>Bf6CBfIBfHmBBdBdBdBf8;Bfn:EY:mByIbDVDܲym>%mN=ٔQ->9Y=[FyDE>Q 5q45?Q 9q4v )[BYyQ I?PNCI:i:q4y BɮoAEIii߬?AJiARiAji{@ba.&cj%@>@Rjv7;}Y2?ˬQi?Zif$@bi6jli&Dbig&rq @ZXe[ UUs(xi4?2i>3:i4"iF윊?*i 1Bi|Biii|Bi|Aiw@ addTargetRange:: Added new target pos. range: 16.400000 m, deltaT: 0.501789 s, deltaX: 0.299999 m, approachRate: 0.597859 m/s, rangeRepo size: 4  Added new target pos. range: 16.330647 m, bearing: 224.773174 deg, lat: 36.779332 deg, lon: -121.859548 deg, deltaT: 0.501789 s, deltaX: 0.298727 m, approachRate: 0.595324 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 16.33 m.bh-ZTarget missed at range: 16.40 m. Rolling out.2hNTransitioning guidance mode to: ROLLOUT:h@hh*h"h h2hgE EE+E"E2;*E:VE [4ZEBEa2EaJE#IIO ?A,j?AY5rmBy5IiMb@Mb@Mb@ 9v?Mb~jt?Y?yD=$^A sA)AAYGYAbDVD:y=%=ٔQ->9Y=[FyD!E%>)Q 55q4-?Q 95q4-)-i[BY5V?Q E5:y5?Q I=?-NCI-. ;i-:-4#q4yAɮEnAAK]]Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse1L]eEntering Midcourse tracking update period 60.000000 s sec at 16.400000 m (mode 5.000000 count ).1LeqLmJm uAggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATRJu}Resuming normal ranging with 1.000000 count pings 16.400000 m (mode 5.000000 count ).J}1K}}B*** querying acoustic contact ***i iԉ addTargetRange:: Added new target pos. range: 16.400000 m, deltaT: 0.503971 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 16.33 m.hh*h"h h2hE EE-E"E9;*E:VEt4ZEa@a@a@a@gfff1: tAggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancyq:t@Uninitialize Buoyancy Component.ddjdZdV?y)y }i i}v&9)}yiiC@IIDAT read: 04:01:54.8291 LVL= 19280, 25809, 32114, 32755, AGC= 57, IDX= 509, 0.14, 2.823,-2.795, 1.527,-3.120, PHS=-0.239, 0.369,-1.681, RAW= 13.2, 16.7, CAL= 12.6, 20.5, ROT= 137.4, -20.5 Ygot valid direction response: 04:01:54.8291 LVL= 19280, 25809, 32114, 32755, AGC= 57, IDX= 509, 0.14, 2.823,-2.795, 1.527,-3.120, PHS=-0.239, 0.369,-1.681, RAW= 13.2, 16.7, CAL= 12.6, 20.5, ROT= 137.4, -20.5 Z#Rx 29: Read direction message, but no range.^direction in FSK: [-0.689482,0.634011,0.350207]y ®;濷vjI?Z8i?PKdr} )Ijti>+׿k>;>z0a> 0>).z@I0&ѿV*m? )I.z@P@! @!@%>0@!i0]checking for new query: numPingsReceived=29, elapsed TxPingTime=14.162164Թ^AE AE zAE AE AE  5 %=5 a== DDAT read: Rx Time:04:01:55.3293 = TRx dataTimestamp_ set to:1761537716.500592E DAT read: Range 11 to 50 : 16.8 m (trip time 11.2 ms) speed -0.4 M Z#Rx 30: Read range message, but no direction.y9 Y= fA9 U checking for new query: numPingsReceived=30, elapsed TxPingTime=14.390668A I I O >H,!?A6g?6?6<ٱ6j = rAHRS rotation from veh to nav: [[0.003395,-0.998079,0.061853],[0.983076,-0.007998,-0.183024],[0.183168,0.061428,0.981161]]6H k?`D4?[u?BB*IBmBBBBDBB;Bw:EbD]VD]y2>%B=ٔQ->9Y=[Fy[>E> Q 5q4 ?Q 9q4 ) [BYy0?Q I? NCI 1:i _: 2q4)y!ɮMmAIBj]N@qL]L]je?1KeqKeii ?AJiԅARiԅAjiBˀ@b`['Lp6%@py3o@R ®;濷vjI?Z8i?Zi.z@bi0jQ4$ Q (%@ZL*lBS(df?2iG:i4$"i|F?*iDBi~BiiM!iiRAiԩ C5N,ȗ;?A2?2?2>ٱ2= ZAHRS rotation from veh to nav: [[-0.022131,-0.997266,0.070499],[0.982424,-0.034766,-0.183399],[0.185348,0.065201,0.980507]]2Ho9 ?p?̡yǿ@~?? Q`?i2?I2V_;2CYrnByrgIbDEVDEyuXT>%R=ٔRQ- >eDDAT read: Rx Time:04:01:55.8293 uTRx dataTimestamp_ set to:1761537717.009765ԙPDAT read: Bearing 351.8, 50.5 (Local) ~Local bearing/azimuth received: Bearing 351.8, 50.5 (Local) 9Y=[FyDt=E>EDAT read: Range 11 to 50 : 16.8 m (trip time 11.2 ms) speed -0.4 !Q 5q4%y?Q 9q4%n)%[BYyx?Q I?%OCI%)1 5 i5"9)qqqiqiII >i @ egg>agG(hAE EEE"E9;*E:VEZEa-@a-@a-@a-@1}C @y @y@}\0@y@@gA.9(hAYIA checking for new query: numPingsReceived=31, elapsed TxPingTime=15.143032! ^A I I O >qU,V?A2u?2@a?2,Aٱ2= >AHRS rotation from veh to nav: [[-0.048464,-0.995320,0.083602],[0.981063,-0.063149,-0.183105],[0.187528,0.073145,0.979532]]2H:Ш f?@d?*`oǿ??SX?i2u?I2 ^;2CYF]nByFIIj<)j;iUMb@Mb@Mb@QQQQ Q9Up= ף?~jtx? rh?YU%?yU;UC=UMAU;_A UrA)U@AQYU(XAbDmVDmk2y}P4>%}?=ٔDZQ->9Y=[Fy2=E>Q 5q4z?Q 9q4T)<\BY &?Q E:y?Q I?YOCI':i:tNq4yBɮjA ERjLtCompleted lineCaptureHoming:UpdatePingUpdateRate_MidcourseKAggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse*jKCompleted lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATRJ Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATRii@?AJiRijikY_@bMtEYu8)@7hj%@R̔7IeGi?mZ{?Zi@?bi1jw' IF&@Z<|Bq:Kп&F@M?2iO:i;"iSݹɜ?*i^_BitBiSݹɜ?iiiAi{@  addTargetRange:: Added new target pos. range: 16.799999 m, deltaT: 0.509173 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 16.728930 m, bearing: 199.952686 deg, lat: 36.779333 deg, lon: -121.859550 deg, deltaT: 0.509173 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 16.73 m.hh*h"h! h!2h!g!if!ffdd!jd)Zd5``?DDAT read: Rx Time:04:01:56.3295 TRx dataTimestamp_ set to:1761537717.508925PDAT read: Bearing 41.1, 32.5 (Local) ~Local bearing/azimuth received: Bearing 41.1, 32.5 (Local) DAT read: Range 11 to 50 : 17.1 m (trip time 11.4 ms) speed -0.4 DAT read: 04:01:56.3295 LVL= 21696, 23409, 32754, 32755, AGC= 57, IDX= 2, 0.26, 1.522, 2.144, 0.190, 1.844, PHS=-0.220, 0.345,-1.698, RAW= 14.5, 16.9, CAL= 13.7, 20.6, ROT= 136.3, -20.6 Ygot valid direction response: 04:01:56.3295 LVL= 21696, 23409, 32754, 32755, AGC= 57, IDX= 2, 0.26, 1.522, 2.144, 0.190, 1.844, PHS=-0.220, 0.345,-1.698, RAW= 14.5, 16.9, CAL= 13.7, 20.6, ROT= 136.3, -20.6 T#Rx 32: Read range and direction messages.^direction in FSK: [-0.676740,0.646707,0.351842]Fpublishing direction and range infoy7Vۧ忝Xٿ>>Gt> X>)?@IXZ &?Z &?Zg<Z̑?-,A)) - i- 9)111i19iFeпFF~!? )EI?@iX=checking for new query: numPingsReceived=32, elapsed TxPingTime=15.415164iYYYIYIaԑB0>BB|IB2nBBBBB5;Bi:EB6CB6CBBBCf4} m<E  E E +E "E g5;*E :VE [4ZE BE 9tYx=z[FyxzQ=E~>|Q 5q4~?Q 9q4~c)~\BY y ?Q I ?~OCI~y:i~-:~_q4yɮjAii:`?AJi8ARi8Aji@b4 'L&@-ż@R7Vۧ忝ӿ[>>BR> ޹>)^@I޹[z+ҿ%tB&S? )I^@i޹ checking for new query: numPingsReceived=33, elapsed TxPingTime=15.980944I ^Aa Iq I O >Ea  Ee Ea Ea "Ea *Ee :VEa ZEa am @am @au @au @= checking for new query: numPingsReceived=33, elapsed TxPingTime=16.151031d,?A2c޹?2?2NCٱ2YX= >AHRS rotation from veh to nav: [[-0.097457,-0.990058,0.101422],[0.977018,-0.114586,-0.179741],[0.189576,0.081574,0.978472]]2H ?@C? |Uǿ D??O?i2c޹?I2IF^;2CYNnByNIieMb@Mb@Mb@aaaa a9eZd;O?9Y=[Fygm=E>Q 5q4#?Q 9q4$)\BY+?Q E:yb?Q I?OCI;i!;nq4yɮ8iAii+?AJiЉARiЉAjiք@b$>(abw%@٤,x@RQtL濦} ]?_S{?Zi^@bi޹jelj!#,q]9lW@Z-&5jS3z꿸 ?2i`:ic "i"|?*iQBiBi|F?iDifBiAi(@ addTargetRange:: Added new target pos. range: 17.299999 m, deltaT: 0.509366 s, deltaX: 0.199999 m, approachRate: 0.392643 m/s, rangeRepo size: 4  Added new target pos. range: 17.226805 m, bearing: 237.848265 deg, lat: 36.779347 deg, lon: -121.859565 deg, deltaT: 0.509366 s, deltaX: 0.199152 m, approachRate: 0.390980 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.23 m.hh*h"h h2hgff fddjdL1@Zd@,b?IZ]+?Z]+?Z]d]<Z]b?NC) =i"9)iiII fA gAԁDDAT read: Rx Time:04:01:57.3297 TRx dataTimestamp_ set to:1761537718.519518PDAT read: Bearing 44.0, 31.1 (Local) ~Local bearing/azimuth received: Bearing 44.0, 31.1 (Local) DAT read: Range 11 to 50 : 17.4 m (trip time 11.6 ms) speed -0.4 "!DAT read: 04:01:57.3297 LVL= 18544, 30689, 32754, 32755, AGC= 55, IDX= 500,-0.06,-1.309,-0.653,-2.550,-0.943, PHS=-0.264, 0.335,-1.651, RAW= 12.9, 17.6, CAL= 12.3, 21.5, ROT= 137.7, -21.5 Ygot valid direction response: 04:01:57.3297 LVL= 18544, 30689, 32754, 32755, AGC= 55, IDX= 500,-0.06,-1.309,-0.653,-2.550,-0.943, PHS=-0.264, 0.335,-1.651, RAW= 12.9, 17.6, CAL= 12.3, 21.5, ROT= 137.7, -21.5 T#Rx 34: Read range and direction messages.^direction in FSK: [-0.688166,0.626183,0.366501]Fpublishing direction and range infoyy?t^2 ?ѨCt?Y3ApHw )7I+i>Sӿf>nF>[> 7 >)@I7 0ѿ.-r(b_PQ? A 0)@  @ @ 4@ Ա B ,>B B IB nBB =B B B .;B ^:E)mI@i7  checking for new query: numPingsReceived=34, elapsed TxPingTime=16.482784 E}  E} Ey Ey "E} ;;*E} :VEy ZEy BE} k,&?AV?V?VZCٱV,= nAHRS rotation from veh to nav: [[-0.121399,-0.987108,0.104309],[0.974278,-0.138598,-0.177689],[0.189855,0.080055,0.978543]]VH c?H-? ƿ-M?y~?@9P?iV?IV ^;VCY nBy IbDVDuchecking for new query: numPingsReceived=34, elapsed TxPingTime=16.654861yu0=%}7=ٔ}&Q-}>9Y=[Fy c=E>Q 5q4?Q 9q4)M]BYy?Q I?7PCIU;iʠ;c~q4yɮhA!iaie??AJieARieAjiezk@beڌ'YO%@Tl}f@Rey?t^2 ?ѨCt?Zie@bie7 je,V3!OKR,DJRF@Ze\ya߿\ePS̟?2iec:ie "ieeVʝ?*ie.dOBieBie4?ie!FieBieAieղ@ addTargetRange:: Added new target pos. range: 17.400000 m, deltaT: 0.501227 s, deltaX: 0.100000 m, approachRate: 0.199511 m/s, rangeRepo size: 4  Added new target pos. range: 17.326239 m, bearing: 238.887291 deg, lat: 36.779353 deg, lon: -121.859566 deg, deltaT: 0.501227 s, deltaX: 0.099434 m, approachRate: 0.198381 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.33 m.hh*h"h h2hgfffddjd`ff1@Zd?ZiZiZiZm?ZC) i!9)顭iiIIԡmmqqԹ- DDAT read: Rx Time:04:01:57.8297 5 TRx dataTimestamp_ set to:1761537719.021575= PDAT read: Bearing 45.3, 32.4 (Local) = ~Local bearing/azimuth received: Bearing 45.3, 32.4 (Local) M DAT read: Range 11 to 50 : 17.4 m (trip time 11.6 ms) speed -0.4  DAT read: 04:01:57.8297 LVL= 18464, 30353, 32754, 32755, AGC= 55, IDX= 500, 0.15, 0.244, 0.857,-1.067, 0.584, PHS=-0.238, 0.318,-1.695, RAW= 14.5, 17.6, CAL= 13.7, 21.4, ROT= 136.3, -21.4  Ygot valid direction response: 04:01:57.8297 LVL= 18464, 30353, 32754, 32755, AGC= 55, IDX= 500, 0.15, 0.244, 0.857,-1.067, 0.584, PHS=-0.238, 0.318,-1.695, RAW= 14.5, 17.6, CAL= 13.7, 21.4, ROT= 136.3, -21.4  T#Rx 35: Read range and direction messages. ^direction in FSK: [-0.673123,0.643250,0.364877] Fpublishing direction and range infoy) - g8忐=K?>8^.$Z?Y) ) - H- v) ) )) I- Fsi- Т>- ؿ- >) - Gt> - t;>)- ?@I- t;) ) - /]qPп"(g`dé*X? - )- :I- ?@i- t;) ) e checking for new query: numPingsReceived=35, elapsed TxPingTime=16.945812 U,@  @ @ _0@ DzD@AE EE,E"E8;*E:VEg4ZEa @a @a @a @1^AIIYIiOu ?5s,Э?A.checking for new query: numPingsReceived=35, elapsed TxPingTime=17.158749Y%oBy%IiMb@Mb@Mb@ 9Cl?~jtx?V-?Y/?y;h= rA)x=AYWAbDVDy=%=ٔQ->9Y=\FyE>Q 5q4B?Q 9q49)]BY0?Q E:y?Q I?PCI;i.:gq4y sBɮ DgA Ei9i=|a?AJi9Ri9ji=I@b= R[KS'KJ&@URI@R=g8忐=K?>8^.$Z?Zi=?@bi=t;j=08/!{f,cmu@Z=G? [|࿳^/R?2i=}`:i="i=V?*i=pE@Bi=EBi=V?i9i=Bi=Ai=@] addTargetRange:: Added new target pos. range: 17.400000 m, deltaT: 0.502057 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 m Added new target pos. range: 17.326239 m, bearing: 237.536085 deg, lat: 36.779358 deg, lon: -121.859566 deg, deltaT: 0.502057 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 uDNOT Ignoring new targets: 17.33 m.hqhq*hq"hq hq2hqgqfyfyfyddjdZdx?ZE0?ZE0?ZE<ZEj?Q)Q UiU69)Y]QYiYiII=_.@9 @9@=3@9DDAT read: Rx Time:04:01:58.3300 TRx dataTimestamp_ set to:1761537719.524679PDAT read: Bearing 46.4, 31.8 (Local) %~Local bearing/azimuth received: Bearing 46.4, 31.8 (Local) 5DAT read: Range 11 to 50 : 17.9 m (trip time 11.9 ms) speed -0.4 A]DAT read: 04:01:58.3300 LVL= 18096, 29361, 32754, 32755, AGC= 54, IDX= 503,-0.32,-0.435, 0.198,-1.733,-0.079, PHS=-0.253, 0.322,-1.698, RAW= 14.0, 17.7, CAL= 13.2, 21.6, ROT= 136.8, -21.6 eYgot valid direction response: 04:01:58.3300 LVL= 18096, 29361, 32754, 32755, AGC= 54, IDX= 503,-0.32,-0.435, 0.198,-1.733,-0.079, PHS=-0.253, 0.322,-1.698, RAW= 14.0, 17.7, CAL= 13.2, 21.6, ROT= 136.8, -21.6 mT#Rx 36: Read range and direction messages.u^direction in FSK: [-0.677778,0.636476,0.368125]uFpublishing direction and range infoyG['y^?{.MZ?Y3AFr )6I7i/ݤ>Xٿ5z>2+>k> >)@I}l=пxWCK`>Qz? )UI@ichecking for new query: numPingsReceived=36, elapsed TxPingTime=17.427862^A (I I O >BE )>BE 5CBE $IBE DoBBE =BA BA BE V;BE :Eq z,rꭻ?A2F6?2!?2C?ٱ2zX= :AHRS rotation from veh to nav: [[-0.191226,-0.977616,0.087752],[0.963863,-0.203923,-0.171417],[0.185475,0.051801,0.981283]]2HzȿHv??"ʿſ??f?i2F6?I2P^;2CYRPoByR,IbDZVDZNyvY>%v[=ٔzC9xY=\Fy%B>E%>)Q 5]q4-?Q 9]q4-)- ^BYaye?Q Ie?-PCI-;i-;-q4yuoBɮu=fAE EE+E"E2;*E:VE [4ZEBE%@RMG['y^?{.MZ?ZiM@biMjMƒ`h C\#*./}$@ZMtR\uݿe6뿰JA/?2iMQq:iMF"iMq㝊?*iM{UBiM:BiM"|?iM.dOiIiMAiM[ԅ@Q} addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.503104 s, deltaX: 0.500000 m, approachRate: 0.993830 m/s, rangeRepo size: 4  Added new target pos. range: 17.823999 m, bearing: 241.454093 deg, lat: 36.779359 deg, lon: -121.859570 deg, deltaT: 0.503104 s, deltaX: 0.497761 m, approachRate: 0.989379 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.82 m.hh*h"h h2hgfffddjd`f1@Zd` :?ZZZZߐ?5C?)1 5i59)9=9i9iAAAIAIAuchecking for new query: numPingsReceived=36, elapsed TxPingTime=17.6630000@ @@ /@ ԁԱ^AM ?΅Iy I O >M DDAT read: Rx Time:04:01:58.8300 U TRx dataTimestamp_ set to:1761537720.033482u PDAT read: Bearing 46.7, 32.6 (Local) } ~Local bearing/azimuth received: Bearing 46.7, 32.6 (Local)  DAT read: Range 11 to 50 : 17.9 m (trip time 11.9 ms) speed -0.4 ,_?ADAT read: 04:01:58.8300 LVL= 15856, 32113, 29106, 32755, AGC= 53, IDX= 503, 0.13,-1.727,-1.147,-3.049,-1.393, PHS=-0.232, 0.291,-1.700, RAW= 15.3, 18.0, CAL= 14.5, 21.8, ROT= 135.5, -21.8 -Ygot valid direction response: 04:01:58.8300 LVL= 15856, 32113, 29106, 32755, AGC= 53, IDX= 503, 0.13,-1.727,-1.147,-3.049,-1.393, PHS=-0.232, 0.291,-1.700, RAW= 15.3, 18.0, CAL= 14.5, 21.8, ROT= 135.5, -21.8 -T#Rx 37: Read range and direction messages.}^direction in FSK: [-0.662243,0.650784,0.371368]Fpublishing direction and range infoyy}@ 17z9?% ~}?Yyy}=}q}}q y)}5I}hmi}>}ٿ}ܸ>}|٠>}> }>)}Z@I}¾yy}&'1$οgq YBE? })}ةI}Z@i}¾yyU5?U ?U'3<ٱU = eAHRS rotation from veh to nav: [[-0.213853,-0.973744,0.078035],[0.959618,-0.224351,-0.169705],[0.182756,0.038592,0.982401]]UH@_˿`(@?@1?̿ ſd?`H£?`o?mchecking for new query: numPingsReceived=37, elapsed TxPingTime=18.034161iU5?IUh^;UCԩY]oBy 3Ii5Mb@Mb@Mb@1111 195 rh?y&1?)\(?Y5C+?y5`e<5Ga=5MA5[A 5qA)5>A1Y5VAbDiVDiy}<%}=ٔ}ʭ;Q->9Y=\Fy9=E>Q 5q4v?bE% [4jE%2`4rE%..E EE*E"EO6;*EV:VE(N4ZEa@a@a@a@Q 9q4<)f^BY+?Q E:yw?Q I?)QCIp,]n ?A>=/?>?>9ٱ>< FAHRS rotation from veh to nav: [[-0.236234,-0.969349,0.067497],[0.954937,-0.244444,-0.168350],[0.179690,0.024686,0.983414]]>H`<ο@G?؎?IϿſ`?9G?x?i>=/?I>t^;>CYN}oByNHIbDZVDZfDDAT read: Rx Time:04:01:59.3303 jTRx dataTimestamp_ set to:1761537720.532810nPDAT read: Bearing 47.5, 32.8 (Local) n~Local bearing/azimuth received: Bearing 47.5, 32.8 (Local) vDAT read: Range 11 to 50 : 18.3 m (trip time 12.2 ms) speed -0.4 DAT read: 04:01:59.3303 LVL= 17808, 26737, 31442, 32755, AGC= 54, IDX= 506,-0.27,-2.613,-2.041, 2.325,-2.286, PHS=-0.225, 0.290,-1.717, RAW= 15.7, 17.9, CAL= 14.8, 21.7, ROT= 135.2, -21.7 Ygot valid direction response: 04:01:59.3303 LVL= 17808, 26737, 31442, 32755, AGC= 54, IDX= 506,-0.27,-2.613,-2.041, 2.325,-2.286, PHS=-0.225, 0.290,-1.717, RAW= 15.7, 17.9, CAL= 14.8, 21.7, ROT= 135.2, -21.7 T#Rx 38: Read range and direction messages.%^direction in FSK: [-0.659285,0.654699,0.369747]-Fpublishing direction and range infoydf|2xiJ?3`?YffAdfEfqhfz d)f6Iffffifz>fۿfK>f>f A> f>)f@Ifddfwο|U뺀!qf? f<)ft1If@ifddMchecking for new query: numPingsReceived=38, elapsed TxPingTime=18.435181yM=%Mt=ٔU7'@֑E W@Rf|2xiJ?3`?Zif@bifjf? z_ " /-{ @Zf, ݿSpBT[;I?2if]x:ifX"ifбҝ?*if{SBidifбҝ?idifDBifAif@ addTargetRange:: Added new target pos. range: 18.299999 m, deltaT: 0.499328 s, deltaX: 0.400000 m, approachRate: 0.801076 m/s, rangeRepo size: 4  Added new target pos. range: 18.222300 m, bearing: 241.948275 deg, lat: 36.779362 deg, lon: -121.859570 deg, deltaT: 0.499328 s, deltaX: 0.398300 m, approachRate: 0.797672 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.22 m.hh*h"h h2hgfffddjdL2@Zd@?B$>BBoIBoBB =BBDB};B:EZZZZ2?9) ;i+8);)i)i111I1I9)L6@ @@@E EEE"E9;*EI:VEZEBEjy B׍, :?A2%?2.?2m5ٱ26Ҕ< :AHRS rotation from veh to nav: [[-0.258441,-0.963918,0.063795],[0.949813,-0.265597,-0.165269],[0.176250,0.017881,0.984183]]2H`MпkT?d?п 'ſ\?wO?`m~?i2%?I2^;2CYBoBy@bDJVDJ0yR_;%RX=ٔV29TYT=V\FyTZz=EZ>\Q 5bq4^兠?Q 9bq4^)^^BY`yf?Q If?^QCI^;i^;^q4yhɮjseAh~DNOT Ignoring new targets: 18.22 m.hh*h"h h2hgf f f d djdZd ,?ZQZQZQZU?yUm5) 6i8)顽$ɶiiII-?i-?DDAT read: Rx Time:04:01:59.8303 TRx dataTimestamp_ set to:1761537721.037690PDAT read: Bearing 47.8, 33.8 (Local) ~Local bearing/azimuth received: Bearing 47.8, 33.8 (Local) 5DAT read: Range 11 to 50 : 18.3 m (trip time 12.2 ms) speed -0.4 DAT read: 04:01:59.8303 LVL= 18048, 24017, 30866, 32755, AGC= 54, IDX= 506,-0.01,-1.275,-0.759,-2.644,-0.971, PHS=-0.203, 0.257,-1.718, RAW= 17.2, 18.2, CAL= 16.1, 21.9, ROT= 133.9, -21.9 Ygot valid direction response: 04:01:59.8303 LVL= 18048, 24017, 30866, 32755, AGC= 54, IDX= 506,-0.01,-1.275,-0.759,-2.644,-0.971, PHS=-0.203, 0.257,-1.718, RAW= 17.2, 18.2, CAL= 16.1, 21.9, ROT= 133.9, -21.9 8@ @@/@@=@-T#Rx 39: Read range and direction messages.ԡ^direction in FSK: [-0.643363,0.668553,0.372988] Fpublishing direction and range infoy@ʱn=d?0?YF]x )I;Oi>mۿ`>>ޏ> E>)W@IEþ4 ?vk˿Y.O1z? )vIW@iEþ-checking for new query: numPingsReceived=39, elapsed TxPingTime=19.028667^A- N؅I9 IQ O] >E  E E ,E "E 9;*E d:VE g4ZE a @a @a @a @ checking for new query: numPingsReceived=39, elapsed TxPingTime=19.174923 {,S?A2?2?2m1ٱ2l< :AHRS rotation from veh to nav: [[-0.279593,-0.957930,0.064796],[0.944576,-0.286534,-0.160236],[0.172061,0.016404,0.984950]]2H ѿ`\?9?VҿĿ@?@E̐?@?i2?I2p^;2CYNoByRgI TTTTieMb@Mb@Mb@aaaa a9e{Gz?Mb`?X9v?Ye#?ye;e9Y=\FyP=E>Q 5q4Y?Q 9q4)#_BY$?Q E:y3?Q I?QCIN;i;q4y[BɮdAEi)i-iB?AJi-ƑARi-ƑAji-@b-hr'[l](@y/@R-@ʱn=d?0?Zi-W@bi-Eþj-kn؏N/?u@Z-Qۿz5}뿶!?2i-tz:i-t"i- Eᝊ?*i-iIBi-Bi-k؝?i-i*Li)i-Ai-n@ addTargetRange:: Added new target pos. range: 18.299999 m, deltaT: 0.504880 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 % Added new target pos. range: 18.222136 m, bearing: 243.069964 deg, lat: 36.779362 deg, lon: -121.859569 deg, deltaT: 0.504880 s, deltaX: -0.000164 m, approachRate: -0.000325 m/s, posRepo size: 4 %DNOT Ignoring new targets: 18.22 m.h!h)*h)"h) h)2h)g)f)5DReached init depth of 59.922119 m.f1f9d9d9jd9ZdE/?Z]$?Z]$?Z]L;Z]3?um1)y }ri}9)y}yiyiII}&9DDAT read: Rx Time:04:02:00.3305  TRx dataTimestamp_ set to:1761537721.541094PDAT read: Bearing 49.9, 34.0 (Local) ~Local bearing/azimuth received: Bearing 49.9, 34.0 (Local) 5DAT read: Range 11 to 50 : 18.6 m (trip time 12.4 ms) speed -0.4 eDAT read: 04:02:00.3305 LVL= 19136, 28577, 29618, 32755, AGC= 55, IDX= 508, 0.27, 2.512, 3.041, 1.128, 2.806, PHS=-0.192, 0.280,-1.722, RAW= 17.0, 17.7, CAL= 15.9, 21.4, ROT= 134.1, -21.4 uYgot valid direction response: 04:02:00.3305 LVL= 19136, 28577, 29618, 32755, AGC= 55, IDX= 508, 0.27, 2.512, 3.041, 1.128, 2.806, PHS=-0.192, 0.280,-1.722, RAW= 17.0, 17.7, CAL= 15.9, 21.4, ROT= 134.1, -21.4 }T#Rx 40: Read range and direction messages.^direction in FSK: [-0.647934,0.668616,0.364877]Fpublishing direction and range infoy  i\߻俧MLe?>8^.$Z?Y ̔A  J o s ) 7I Di )\> jܿ > 2+> q> t;>) @I t;   DT˿8t (a o? /-) I @i t;  checking for new query: numPingsReceived=40, elapsed TxPingTime=19.44969659@1 @1@5/@5AAB !>B 4CB IB pBB =B B B |;B :E) ^A= #II Y Ia O} >,n?AE2  E2E2+E0"E2G;*E2#:VE2 [4ZE0BE2+9Y=\Fy`=E>Q 5q4x?Q 9q4#)^_BYy?Q I?(RCI:i:Wq4yɮdA 5checking for new query: numPingsReceived=40, elapsed TxPingTime=19.679033iiIb?AJi*ARi*AjiV@b"(ψv:(@ 2@Ri\߻俧MLe?>8^.$Z?Zi@bit;j0) [0B@ZSڿ'P7ڮ`?2i:ip"i( ?*id 4OBiBi Eᝊ?id 4OiiAiJC@ addTargetRange:: Added new target pos. range: 18.600000 m, deltaT: 0.503404 s, deltaX: 0.300001 m, approachRate: 0.595945 m/s, rangeRepo size: 4  Added new target pos. range: 18.520746 m, bearing: 244.467616 deg, lat: 36.779363 deg, lon: -121.859570 deg, deltaT: 0.503404 s, deltaX: 0.298611 m, approachRate: 0.593183 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.52 m.hh*h"h hgfffddjd2@Zd@n? Z!Z!Z!Z%?=S,)9 =[i=9!9)AE AiAiiiiIiIqE899@ @@1@1i  DDAT read: Rx Time:04:02:00.8306  TRx dataTimestamp_ set to:1761537722.048279 PDAT read: Bearing 51.9, 34.0 (Local)  ~Local bearing/azimuth received: Bearing 51.9, 34.0 (Local) - DAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed -0.4 U DAT read: 04:02:00.8306 LVL= 21168, 24097, 31794, 32755, AGC= 57, IDX= 509,-0.21, 0.142, 0.695,-1.226, 0.439, PHS=-0.196, 0.301,-1.709, RAW= 16.3, 17.4, CAL= 15.3, 21.0, ROT= 134.7, -21.0 ^Ay I I  Ygot valid direction response: 04:02:00.8306 LVL= 21168, 24097, 31794, 32755, AGC= 57, IDX= 509,-0.21, 0.142, 0.695,-1.226, 0.439, PHS=-0.196, 0.301,-1.709, RAW= 16.3, 17.4, CAL= 15.3, 21.0, ROT= 134.7, -21.0  T#Rx 41: Read range and direction messages. ^direction in FSK: [-0.656675,0.663589,0.358368] Fpublishing direction and range infoy  9~<,|$GYۡ,ɇ?A$ I)M9IM9HiM>MڿM>M|>Mܸ> Mf>)Mv@IMfIIMC5U̿m-h9 Y=\Fy5?=E5>9Q 5Eq4=q?Q 9Eq4=#)=_BYMw?Q EM:yM?Q IM?=oRCI=:i=:=q4yQɮ] dAYiIiM?AJiM•ARiM•AjiM@bM*^ (Q8(@ ʝ@RM9~<,|$G 5^ڿ |> Θ> > >) &X@I  ? ʿj34? () VΘI &X@i   checking for new query: numPingsReceived=42, elapsed TxPingTime=20.450891ԉ B>B3CBIBBpBBBBDBY;B|:EB5CB5CBΔCBά =Bά =C75^AIԩIO ?7,ڪ?A2?2n?2 ٱ2< %AHRS rotation from veh to nav: [[-0.342808,-0.936718,0.071012],[0.926270,-0.349644,-0.140619],[0.156549,0.017571,0.987514]]2Hտ-?@?`ֿ ??඙?i2?I2aGc;2CYuoByuhII=)<bDVDyym%+=ٔA9Y=\FyK9=E>E- E-E)E)"E-<;*E-:VE)ZE)BE-Ó ٿ Θ> `> ޏ> ޹>) W@I ޹ )6˿iTw5? a) \GI W@i ޹ - checking for new query: numPingsReceived=43, elapsed TxPingTime=20.955015ԡ ^A=#IIO=>,ʮ?AH%:&?%~?% ٱ%< UAHRS rotation from veh to nav: [[-0.362147,-0.929472,0.070221],[0.919893,-0.368543,-0.134064],[0.150488,0.016045,0.988482]]%H l-׿ <?o?`7׿)3C? 0n? ?i%:&?I%;b;!YayaEM EMEM)EI"EM%.;*EMr:VEMFA4ZEIa]@a]@a]@a]@iMb@Mb@Mb@ 9(\?y&1~jthY?y`弙DMALA dA)K;AYNAbD-VD-ymM%m=ٔu69qYq=}\Fyy}{=E}>Q 5r4Xb?Q 9r4)_BY?Q E:yA?Q I?SCI:i:r4yɮdA%checking for new query: numPingsReceived=43, elapsed TxPingTime=21.190985ii _î?AJiRijiS@b?2i:i{"i.] ?*i>IBiBi?iLiBiZAi@ addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.503762 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 18.719685 m, bearing: 247.672140 deg, lat: 36.779367 deg, lon: -121.859569 deg, deltaT: 0.503762 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.72 m.hh*h"h hgfffBddjdZd@?Z?Z?Zy_@ZA?5 )1 5i5ݘ9)1=Ŷ9i9i9AAIAIA fAfA  9I ) gA DDAT read: Rx Time:04:02:02.3310  TRx dataTimestamp_ set to:1761537723.558048 PDAT read: Bearing 67.7, 29.2 (Local)  ~Local bearing/azimuth received: Bearing 67.7, 29.2 (Local)  DAT read: Range 11 to 50 : 19.2 m (trip time 12.8 ms) speed -0.4 5 DAT read: 04:02:02.3310 LVL= 21088, 24257, 32754, 32755, AGC= 53, IDX= 513,-0.13, 3.022,-2.303, 1.727,-2.976, PHS=-0.183, 0.719,-1.624, RAW= 7.6, 10.6, CAL= 7.6, 12.0, ROT= 142.4, -12.0 = Ygot valid direction response: 04:02:02.3310 LVL= 21088, 24257, 32754, 32755, AGC= 53, IDX= 513,-0.13, 3.022,-2.303, 1.727,-2.976, PHS=-0.183, 0.719,-1.624, RAW= 7.6, 10.6, CAL= 7.6, 12.0, ROT= 142.4, -12.0 = T#Rx 44: Read range and direction messages.E ^direction in FSK: [-0.774976,0.596812,0.207912]U 9@Y  @Y @] /@Y @a @e =I U Fpublishing direction and range infoy  uD?hٜ?Y A `R ^ B A B >B B IB VpBB =B B B 5;B V:E ) 5I Zd;i b8? ;Ͽ > q=> > PwV>) @I PwV  QؿWM? K.) c7>I @i PwV Uchecking for new query: numPingsReceived=44, elapsed TxPingTime=21.524141^AuFӅIIO ?,]?A0F?F?F ٱF"< NAHRS rotation from veh to nav: [[-0.397641,-0.915291,0.064217],[0.907213,-0.402673,-0.121736],[0.137282,0.009852,0.990483]]FH@rٿ@Jp? ?dٿ*u?` -?` ?iF?IFt`;DYVoByVpI XXE EE'E"Eg5;*E:VE'4ZEBE91Y1=5\Fy1==E]>aQ 5mr4eZ?Q 9mr4e܋)e`BYiym!?Q Im?e@SCIe:ie:en,r4yHBɮBcAEii㮻?AJiARiAjiY@b•-L&@vAp@RuD?hٜ?Zi@biPwVj$|F/L72,6I@Z*3_̿ ?2i':i}"iϮ?*iYrBiwBi(* ?id 4OiBiTAi]@- addTargetRange:: Added new target pos. range: 19.200001 m, deltaT: 0.505367 s, deltaX: 0.400002 m, approachRate: 0.791507 m/s, rangeRepo size: 4 ] Added new target pos. range: 19.117844 m, bearing: 256.938184 deg, lat: 36.779368 deg, lon: -121.859570 deg, deltaT: 0.505367 s, deltaX: 0.398159 m, approachRate: 0.787861 m/s, posRepo size: 4 ]DNOT Ignoring new targets: 19.12 m.hYhY*ha"ha hagafafifididijdm@333@Zdu$A?Zchecking for new query: numPingsReceived=44, elapsed TxPingTime=21.695118ZZZj!?E )A EiE9)AEIiIiiqqIqIqԙԹ&9  9@  @ @ @ ߁ ߁  DDAT read: Rx Time:04:02:02.8310  TRx dataTimestamp_ set to:1761537724.061848 PDAT read: Bearing 71.9, 30.8 (Local)  ~Local bearing/azimuth received: Bearing 71.9, 30.8 (Local)  DAT read: Range 11 to 50 : 19.2 m (trip time 12.8 ms) speed -0.3 - DAT read: 04:02:02.8310 LVL= 21072, 24849, 32242, 32755, AGC= 53, IDX= 513, 0.12, 2.321,-2.966, 0.874, 2.528, PHS=-0.105, 0.835,-1.698, RAW= 8.5, 8.8, CAL= 8.4, 9.3, ROT= 141.6, -9.3 5 Ygot valid direction response: 04:02:02.8310 LVL= 21072, 24849, 32242, 32755, AGC= 53, IDX= 513, 0.12, 2.321,-2.966, 0.874, 2.528, PHS=-0.105, 0.835,-1.698, RAW= 8.5, 8.8, CAL= 8.4, 9.3, ROT= 141.6, -9.3 5 T#Rx 45: Read range and direction messages.= ^direction in FSK: [-0.773392,0.612983,0.161604]E Fpublishing direction and range infoy  ªԭ?o?Y PR a } ) I = ׽i U? Xٿ > nF> Q > 6&>) 2+@I 6& .7׿q[ kz'l? +) I 2+@i 6& e checking for new query: numPingsReceived=45, elapsed TxPingTime=21.974348! ^AM#IYIiOu>, ?Arz4?r@rxٱr< ~AHRS rotation from veh to nav: [[-0.413490,-0.908420,0.061638],[0.901184,-0.417980,-0.114715],[0.129972,0.008113,0.991484]]rH vڿ@?`?/ڿ ]`?Ɲ?=?irz4?Irk@_;rCYoBy vIE EEE"E:;*E:VEZEa@a@a@a@iEMb@Mb@Mb@AAAA A9Ekt?/$~jtxYE >yEEĻEKAEKA E;_A)AAYEzLAbD}VD}ܲy<%=ٔc9Y=\Fy=E>Q 5r45S?Q 9r4)8`BY c>Q E :y _?Q I ?SCI ;i ;>r4yɮcAiiQ?AJiRiji%s@bDh9-yp'@5T@Rªԭ?o?Zi2+@bi6&j@]ؖœ2YmR`?Zp;sͿ+Y!_?2i:i"iSZ垊?*inBitBi.] ?im[SiBi/Ai(@m addTargetRange:: Added new target pos. range: 19.200001 m, deltaT: 0.503800 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 u Added new target pos. range: 19.117844 m, bearing: 256.845857 deg, lat: 36.779370 deg, lon: -121.859572 deg, deltaT: 0.503800 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 }DNOT Ignoring new targets: 19.12 m.hyhy*hy"hy hgfffڀBddjdZd?checking for new query: numPingsReceived=45, elapsed TxPingTime=22.198944Zc>Zc>ZK@Z_?x) \i9)P iiII)E 9 9@  @ @ @ Q  DDAT read: Rx Time:04:02:03.3312  TRx dataTimestamp_ set to:1761537724.565435 PDAT read: Bearing 58.2, 37.7 (Local)  ~Local bearing/azimuth received: Bearing 58.2, 37.7 (Local)  DAT read: Range 11 to 50 : 19.5 m (trip time 13.0 ms) speed -0.3  DAT read: 04:02:03.3312 LVL= 19616, 16065, 26194, 30483, AGC= 55, IDX= 3, 0.33,-0.743,-0.266,-2.178,-0.511, PHS=-0.130, 0.290,-1.711, RAW= 18.5, 16.7, CAL= 17.3, 20.2, ROT= 132.7, -20.2  Ygot valid direction response: 04:02:03.3312 LVL= 19616, 16065, 26194, 30483, AGC= 55, IDX= 3, 0.33,-0.743,-0.266,-2.178,-0.511, PHS=-0.130, 0.290,-1.711, RAW= 18.5, 16.7, CAL= 17.3, 20.2, ROT= 132.7, -20.2  T#Rx 46: Read range and direction messages. ^direction in FSK: [-0.636448,0.689712,0.345298] Fpublishing direction and range infoy  mZ]俄܆K?P]?Y A L > Rf w) 7I i z> ۿ MQ> ;> #> J>) 2:@I J  ҘfȿZn ¨d? Z) ?I 2:@i J % checking for new query: numPingsReceived=46, elapsed TxPingTime=22.473124B >B B B B B B B ";B A:Eԁ^A}IIO?,,?A;ɰ;nW?n!@n},ٱnU; vAHRS rotation from veh to nav: [[-0.428903,-0.901586,0.056426],[0.895029,-0.432581,-0.108617],[0.122336,0.003917,0.992481]]nH &sۿ`??iۿJλ@mQ? p?g?inW?In^;nCY~oBy~wIbDEVDEJyM:%M1=ٔU9QYY=]\FyY]%=Ee>aQ 5mr4eL?Q 9mr4e)eP`BYqyu?Q Iu?eSCIe-:ieg:eNr4y}FBɮcAE EE,E"E2;*E:VEg4ZEBE%5 ܿ5 >1 5 > 5 >)5 @I5 1 1 5 `_Y ǿ6{N)P;*g? 5 4D)5 UI5 @i5 1 1  checking for new query: numPingsReceived=47, elapsed TxPingTime=22.971447^A #I9 I O >_,I?Apd?'@8ٱ2צ: AHRS rotation from veh to nav: [[-0.443595,-0.894699,0.052313],[0.888870,-0.446667,-0.101973],[0.114602,0.001265,0.993411]]H cܿ `Ȫ?`q?2ܿ`V?T?@?id?I3p^;CYoByzIbE|a4jEOS4rE(0E5 E5E1E1"E5y>;*E5:VE1ZE1aE@aE@aE@aE@imMb@Mb@Mb@iiii i9mK7?ymtmmlIAmlIA mZA)m^9Y=\Fyl<E>Q 5r4D?Q 9r4{)h`BY>Q E;y?Q I?SCI:is:ar4yɮbAiieD?AJiRiji弋@b G+r(NQ+@ Ͱ@Rx&%1PL?"??Zi@biji4T  1Rb@ZԿ&mI?2i:i"iZ->Z-@Z-?=8)Y ]ieo9)ae2aiaiiiiIiIq9 9i M 9@I  @I @M 4@I  DDAT read: Rx Time:04:02:04.3313  TRx dataTimestamp_ set to:1761537725.572751 PDAT read: Bearing 59.7, 39.8 (Local)  ~Local bearing/azimuth received: Bearing 59.7, 39.8 (Local)  DAT read: Range 11 to 50 : 19.7 m (trip time 13.1 ms) speed -0.2  DAT read: 04:02:04.3313 LVL= 20304, 24097, 32754, 32755, AGC= 51, IDX= 500, 0.46,-2.184,-1.765, 2.623,-1.991, PHS=-0.092, 0.270,-1.714, RAW= 20.1, 16.5, CAL= 18.8, 19.8, ROT= 131.2, -19.8  Ygot valid direction response: 04:02:04.3313 LVL= 20304, 24097, 32754, 32755, AGC= 51, IDX= 500, 0.46,-2.184,-1.765, 2.623,-1.991, PHS=-0.092, 0.270,-1.714, RAW= 20.1, 16.5, CAL= 18.8, 19.8, ROT= 131.2, -19.8  T#Rx 48: Read range and direction messages. ^direction in FSK: [-0.619748,0.707933,0.338738] Fpublishing direction and range infoy  H4b?<?Y A PO !^ ) 3I ji q=> Zdۿ > r> > ;>) C@I ;ﰾ ԑ W6|tſ0k9lN4? ߿) I C@i ;ﰾ  checking for new query: numPingsReceived=48, elapsed TxPingTime=23.489763A)A)B=>B9B=IB=LpBB9B9B9B=;B=;:E^A!I)IAOM?,j?AV4?V@V#ɽٱVX AHRS rotation from veh to nav: [[-0.470704,-0.881293,0.041959],[0.876825,-0.472545,-0.088765],[0.098055,-0.004991,0.995168]]VH ޿3{??+>޿J&? qtk?iV4?IV5^;TqYoByIbDVDyl<%8=ٔ=Q->9Y = \Fy =E>Q 5%r4k>?Q 9Mr4aw)y`BYIyM)@Q IM?TCIu;i;!qr4yQɮ]bAYiid?AJiARiAji@bk =P(NU+@3@RH4b?<?ZiC@bi;ﰾj = $Ѥ1A&g@ZYԿIGh Ӭu?2i}:i"i`-0?*iKBiBiiiHBiAi@  addTargetRange:: Added new target pos. range: 19.700001 m, deltaT: 0.504044 s, deltaX: 0.200001 m, approachRate: 0.396792 m/s, rangeRepo size: 4  Added new target pos. range: 19.615572 m, bearing: 250.700873 deg, lat: 36.779372 deg, lon: -121.859570 deg, deltaT: 0.504044 s, deltaX: 0.199095 m, approachRate: 0.394995 m/s, posRepo size: 4 DNOT Ignoring new targets: 19.62 m.hh*h"h h!EM EMJEM(EI"EM8;*EM;VEMc44ZEIBEM؏ ܿ t;> ӱ> x >) R@I x krݾe¿-T&58? Sܿ) ѓI R@i x M checking for new query: numPingsReceived=49, elapsed TxPingTime=23.978916Y^Amo셾IIYO?,5?All?@ٱ» %AHRS rotation from veh to nav: [[-0.483380,-0.874569,0.038387],[0.870797,-0.484866,-0.081352],[0.089761,-0.005897,0.995946]]H޿wv?@?` ߿ ~Ӵ`?"'x?i?I^;Y5oBy5I9=AE% E%E%/E!"E%77;*E%:VE%J4ZE!a-@a-@a-@a-@iuMb@Mb@Mb@qqqq q9uCl?MbP?Yud>yu̼u:uJAuHA uUA)ut=AqYupIAbDVDNy6<%=ٔJm9Y=\Fyj<E>Q 5r46?Q 9r4mr)`BYԻ>Q E;y@Q I?OTCI:i:r4y ɮ~bAii焯?AJiRiji̋@b%^?j'9@,@Hs@R3wTgS(y ?M?ZiR@bix j*hfL15@Z|}uKԿ1{,?2i:i7"i%?*i(.EBiԂBi`-0?iKieBi*AiCC@ addTargetRange:: Added new target pos. range: 19.700001 m, deltaT: 0.503909 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 checking for new query: numPingsReceived=49, elapsed TxPingTime=24.215031% Added new target pos. range: 19.615572 m, bearing: 250.309592 deg, lat: 36.779372 deg, lon: -121.859568 deg, deltaT: 0.503909 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 %DNOT Ignoring new targets: 19.62 m.h)h)*h)"h) h)gIfQfQfUBdQdYjdYZd] ?ZԻ>ZԻ>Z)@Z@) Gio9) ZiiIII 9i  @  @ @ 1@ @ hA@  DDAT read: Rx Time:04:02:05.3315  TRx dataTimestamp_ set to:1761537726.581598 PDAT read: Bearing 61.1, 42.4 (Local)  ~Local bearing/azimuth received: Bearing 61.1, 42.4 (Local)  DAT read: Range 11 to 50 : 20.0 m (trip time 13.3 ms) speed -0.2  DAT read: 04:02:05.3315 LVL= 19328, 23105, 30482, 32755, AGC= 51, IDX= 502, 0.10,-1.122,-0.781,-2.644,-0.977, PHS=-0.043, 0.241,-1.711, RAW= 22.3, 16.3, CAL= 20.7, 19.4, ROT= 129.3, -19.4  Ygot valid direction response: 04:02:05.3315 LVL= 19328, 23105, 30482, 32755, AGC= 51, IDX= 502, 0.10,-1.122,-0.781,-2.644,-0.977, PHS=-0.043, 0.241,-1.711, RAW= 22.3, 16.3, CAL= 20.7, 19.4, ROT= 129.3, -19.4  T#Rx 50: Read range and direction messages. ^direction in FSK: [-0.597419,0.729904,0.332161] Fpublishing direction and range infoy  -"AM^[?` B?Y A K AZ w ) 3I 0i v> ۿ SF> > > -\>) m@I -\ TI-9n8lQ? kYڿ) ܑI m@i -\ e checking for new query: numPingsReceived=50, elapsed TxPingTime=24.491226Be>Be2CBeIBeBpBBaBaBaBe;Be3:Eԑ^A%I1IAOU?/,_뮯?A8?@SٱZE1 E5E5-E1"E1*E5 :VE5t4ZE1BE59QYQ=U\FyQ]c<E]>aQ 5r4e 0?Q 9r4em)e`BYy{@Q I?eTCIeP;ie:e r4y4BɮcaAE-checking for new query: numPingsReceived=50, elapsed TxPingTime=24.722792ii8?AJiPARiPAji@bl]R'6f]$-@oz~xu@R-"AM^[?` B?Zim@bi-\j #2Z@ZԿk쿮qY?2i:i~"iC ?*irxGBiBi ݿ pl> t;> iw>) ȥ@I iw @s[貽9 }߅? ;ؿ) [I ȥ@i iw  checking for new query: numPingsReceived=51, elapsed TxPingTime=24.998478) 'g> C^A-IQIliAO>U,ͯ?A292liAY2AE1?Ep@E9ٱE UAHRS rotation from veh to nav: [[-0.519259,-0.854167,0.027706],[0.852141,-0.519949,-0.059237],[0.065004,-0.007150,0.997859]]EHŝWU _? D?k@QT?`H}v?iE1?IEc^;AԁY1pByIbDVDy}=%0=ٔ=Q->9Y=\FyE EE)E"E8;*E:VEFA4ZEa@a@a@a@d=E>Q 5 r4N)?Q 9 r4i)`BYy.@Q I?TCI:i:r4y2Bɮ`A%Eiqiu2uů?AJiqRiqjiu@buts' œ`-@S@Ru*SI= aj? 3%'?Ziuȥ@biuiwjulC22hf@Zuʃ +Կu R?2iu':iu"iu|?*iu2pCBiuBiu%?iurxGiuԂBiusAiuH@ addTargetRange:: Added new target pos. range: 20.000000 m, deltaT: 0.503680 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 19.914183 m, bearing: 250.798578 deg, lat: 36.779370 deg, lon: -121.859567 deg, deltaT: 0.503680 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 19.91 m.hh*h"h hgfffddjdZd?ZQZQZQZU.@e9)i mim9)imiiqchecking for new query: numPingsReceived=51, elapsed TxPingTime=25.223009iIIm9ԩ@ @@4@^A I I) O= > M DDAT read: Rx Time:04:02:06.3317 U TRx dataTimestamp_ set to:1761537727.588676] PDAT read: Bearing 62.5, 45.0 (Local) ] ~Local bearing/azimuth received: Bearing 62.5, 45.0 (Local) u DAT read: Range 11 to 50 : 20.3 m (trip time 13.5 ms) speed -0.1 t,D篻?Aɰ4<BR>BPBPBPBR =BPBRDBR=;BRY:EB3CB3CBCB =B =C*4bDAT read: 04:02:06.3317 LVL= 17504, 24545, 32754, 32755, AGC= 50, IDX= 504,-0.50,-2.173,-1.903, 2.531,-2.074, PHS= 0.003, 0.216,-1.723, RAW= 24.2, 16.1, CAL= 22.4, 19.0, ROT= 127.6, -19.0 fYgot valid direction response: 04:02:06.3317 LVL= 17504, 24545, 32754, 32755, AGC= 50, IDX= 504,-0.50,-2.173,-1.903, 2.531,-2.074, PHS= 0.003, 0.216,-1.723, RAW= 24.2, 16.1, CAL= 22.4, 19.0, ROT= 127.6, -19.0 fT#Rx 52: Read range and direction messages.j^direction in FSK: [-0.576904,0.749125,0.325568]jFpublishing direction and range infoyWz*euq)0?`FI?YfA`D_ )2ID;i/]>Dܿ@>ޏ>+> ɩ>)Ӈ@IɩX>9@QP? Gտ)菾IӇ@iɩchecking for new query: numPingsReceived=52, elapsed TxPingTime=25.541323YGpByI -p<-<bDUVDUyeG=%m@=ٔmQ->9Y=\FyE>Q 5r4M#?Q 9r4Pf)`BYyQ I?TCI5;i5;]r4yɮy`Aiiެ寻?AJiARiAji@b}[R'ҥH.@@R@RWz*euq)0?`FI?ZiӇ@biɩjي\32}OX@Z3տ5_ zT ҄ ?2i:iH"ig?*i.EBiBi|?i(.EiBiߙAi\I@- addTargetRange:: Added new target pos. range: 20.299999 m, deltaT: 0.503398 s, deltaX: 0.299999 m, approachRate: 0.595948 m/s, rangeRepo size: 4 = Added new target pos. range: 20.212831 m, bearing: 249.799216 deg, lat: 36.779369 deg, lon: -121.859566 deg, deltaT: 0.503398 s, deltaX: 0.298649 m, approachRate: 0.593266 m/s, posRepo size: 4 =DNOT Ignoring new targets: 20.21 m.hAhA*hA"ha hagafififididqjduL4@Zdu͎?ZZZZE EE*E"E[I;*E:VE(N4ZEBE`,͔?AFhW?FV! @F~FٱFw NAHRS rotation from veh to nav: [[-0.540561,-0.841072,0.019799],[0.839902,-0.540869,-0.045007],[0.048562,-0.007700,0.998790]]FH@GLF?y?`N& .ݨ?0`?iFhW?IF^;FCYVypByVIbDbVDb:2yj>%jg=ٔj>=Q-j>9lYl=n\Fylrא=Er?tQ 5Ur4v!?Q 9Ur4vac)v`BYQyU@Q I]?vTCIvl-Oݿ->-5>-B> ->)-0 @I-))- jW_Zvr=JT? -&ӿ)-|`I-0 @i-))checking for new query: numPingsReceived=53, elapsed TxPingTime=26.028978E9@I @I@U/@QyE EEE"E1A;*E:VEZEa @a @a@a@^A#IԡIO> checking for new query: numPingsReceived=53, elapsed TxPingTime=26.230860 H,GU?AJ_?J @JKF&ٱJ͒7 fAHRS rotation from veh to nav: [[-0.550943,-0.834441,0.013029],[0.833555,-0.550984,-0.040032],[0.040583,-0.011195,0.999113]]JHT`?|?@SǤ?@c톿?iJ_?IJ^;JCY~pByIԱa@a% a%@a% a%@a% a%@a% bD-VD-:y=X=%=*=ٔ=9AYA=E\FyAME<EM>QQ 5]r4U?Q 9]r4UX_)U`BQ A]+:YYQ E]:y]@Q Ie?U!UCIU:iU~>U!r4yiɮmG_Aiiaie?AJieARieAjie1ϋ@beB[|&2.@@Re(ῖha?ɜL?Zie0 @biejexs=F3E/2w|D@ZehԿZG ?2ieA:ieJ"ie嬎?*ieˡ9BieBieC ?ie.EieBiețAie:t@5 addTargetRange:: Added new target pos. range: 20.100000 m, deltaT: 0.506234 s, deltaX: -0.199999 m, approachRate: -0.395072 m/s, rangeRepo size: 4 E Added new target pos. range: 20.013693 m, bearing: 250.327663 deg, lat: 36.779368 deg, lon: -121.859565 deg, deltaT: 0.506234 s, deltaX: -0.199139 m, approachRate: -0.393373 m/s, posRepo size: 4 EDNOT Ignoring new targets: 20.01 m.hAhA*hI"hI hIgIfIfQfQdQdQjdU4@Zd] X?KF&) iT9)額8iiIIDDAT read: Rx Time:04:02:07.3318 TRx dataTimestamp_ set to:1761537728.608034PDAT read: Bearing 62.9, 47.2 (Local) ~Local bearing/azimuth received: Bearing 62.9, 47.2 (Local) DAT read: Range 11 to 50 : 20.4 m (trip time 13.6 ms) speed -0.1 -DAT read: 04:02:07.3318 LVL= 17072, 20017, 29474, 32755, AGC= 51, IDX= 505,-0.25,-1.931,-1.727, 2.720,-1.862, PHS= 0.034, 0.181,-1.745, RAW= 26.1, 16.3, CAL= 24.0, 19.0, ROT= 126.0, -19.0 5Ygot valid direction response: 04:02:07.3318 LVL= 17072, 20017, 29474, 32755, AGC= 51, IDX= 505,-0.25,-1.931,-1.727, 2.720,-1.862, PHS= 0.034, 0.181,-1.745, RAW= 26.1, 16.3, CAL= 24.0, 19.0, ROT= 126.0, -19.0 5T#Rx 54: Read range and direction messages.E^direction in FSK: [-0.555762,0.764941,0.325568]EFpublishing direction and range infoy3dz?`FI?Y3AB1N"s )3IC =iX9>)\߿Z;>>Pw> ɩ>)L @Iɩ颇pٰxsqq? ,ѿ)*#IL @iɩB>BBIBapBBBBBa;B|:Echecking for new query: numPingsReceived=54, elapsed TxPingTime=26.5346119 % 9@)  @) @- |4@) E  E E ,E "E O6;*E :VE g4ZE BE G ,(:?A2{?2 @2Gٱ2)o NAHRS rotation from veh to nav: [[-0.561380,-0.827534,0.006295],[0.826911,-0.561226,-0.035260],[0.032712,-0.014589,0.999358]]2H({y?@v?` ?`?i2{?I2^;2CYVpByVIX \\bDbVDbfyjK >%nK=ٔn9pYp=r\FyprW<Er>tQ 5zr4v?Q 9zr4v[)v`BQ A~ :Y|Q E~:y~V@Q I~?vGUCIv\:ivc?v`r4yɮf^A iYi]&?AJi]ARi]Aji]@b]M&-?5޿-:F>-C>-k> -㭪>)- @I-㭪))-3j@PPkOA[ ? -hϿ)-gI- @i-㭪))]checking for new query: numPingsReceived=55, elapsed TxPingTime=27.036736m9- 9@)  @1 A @5 4@I D zD E  E E -E "E *E ;:VE t4ZE a @a @a @a @a i I  checking for new query: numPingsReceived=55, elapsed TxPingTime=27.250153^A]IiIO>,X?A2R?2y @2ͼٱ2D >AHRS rotation from veh to nav: [[-0.571468,-0.820624,0.000759],[0.820242,-0.571230,-0.029973],[0.025030,-0.016506,0.999550]]2HxIBH?l?? GZ ? 琿@Q?i2R?I22^;2CYFpByF,IaMaM aMaM aMaU aUaU iUMb@Mb@Mb@QQQQ Q9UK7A?QI +?YU >yUU94=QUnFA UNA)UAAQYUQHAbDmVDmky}G=%}$=ٔ}A}9Y=\Fy@<E>Q 5r4y?Q 9r4W)`BQ AT:Y>Q E ;y@Q I?wUCIo;i;r4y0Bɮ]Ai!i% G?AJi%ARi%Aji%yŋ@b%̫& 7/@#t@R%U ,nq=u?#e#?Zi% @bi%㭪j%)W ,8$2$ЈO@Z%eF󮸝ԿN쿱a>?2i%':i%Z"i%f㝊?*i%G4Bi%Bi%g?i%G=i%Bi%-Ai%r%@ U addTargetRange:: Added new target pos. range: 20.299999 m, deltaT: 0.501936 s, deltaX: -0.100000 m, approachRate: -0.199229 m/s, rangeRepo size: 4   Added new target pos. range: 20.212790 m, bearing: 250.259697 deg, lat: 36.779365 deg, lon: -121.859562 deg, deltaT: 0.501936 s, deltaX: -0.099571 m, approachRate: -0.198374 m/s, posRepo size: 4 DNOT Ignoring new targets: 20.21 m.hIhQ*hQ"hY hygfffBddjdL4@Zd3?Z>Z>Zˆ@Z@=ͼ)9 = i=v9)AE AiAiIIIIIIQ1DDAT read: Rx Time:04:02:08.3318  TRx dataTimestamp_ set to:1761537729.615422PDAT read: Bearing 62.6, 48.3 (Local) %~Local bearing/azimuth received: Bearing 62.6, 48.3 (Local) =DAT read: Range 11 to 50 : 20.4 m (trip time 13.6 ms) speed -0.1 mDAT read: 04:02:08.3318 LVL= 13840, 19601, 27794, 32755, AGC= 51, IDX= 505,-0.18,-2.813,-2.644, 1.820,-2.749, PHS= 0.038, 0.151,-1.757, RAW= 27.0, 16.6, CAL= 24.8, 19.5, ROT= 125.2, -19.5 uYgot valid direction response: 04:02:08.3318 LVL= 13840, 19601, 27794, 32755, AGC= 51, IDX= 505,-0.18,-2.813,-2.644, 1.820,-2.749, PHS= 0.038, 0.151,-1.757, RAW= 27.0, 16.6, CAL= 24.8, 19.5, ROT= 125.2, -19.5 uT#Rx 56: Read range and direction messages.}^direction in FSK: [-0.543369,0.770275,0.333807]Fpublishing direction and range infoy  P%Gcῥ~H?{{]?Y 3A  6 L l ) I =i > `࿩  V>  @>) I @   3䩿ΞeDU? 2Ͽ) I i @  B >B B IB pBB B B B \;B w:EEchecking for new query: numPingsReceived=56, elapsed TxPingTime=27.542208a}]9 9@  @ @ 4@ ԉ E  E E +E "E /;*E |:VE [4ZE BE ˈ-,v?A.checking for new query: numPingsReceived=56, elapsed TxPingTime=27.7509428: ?:= @:ٱ: FAHRS rotation from veh to nav: [[-0.581328,-0.813655,-0.004894],[0.813485,-0.581057,-0.024800],[0.017335,-0.018399,0.999680]]:H<u  t`?@=e@?גa?i: ?I:^;:CYJ(qByNNIbDVVDVfy^=%^8=ٔ^N9`Y`=b\Fy`f<Ef>hQ 5nr4j&?Q 9nr4jS)j`BYlynO@Q In?jUCIjB:ij:j>r4ypɮv\AtiIiMcg?AJiMARiMAjiM*@bM|i&%J/@O$#@RMP%Gcῥ~H?{{]?ZiIbiM@jM[Cc@<2p:2@ZMӿ^(6c??2iM:iM"iMIAꝊ?*iMx3BiM-BiM?iMˡ9iMlBiMAiMG@ addTargetRange:: Added new target pos. range: 20.400000 m, deltaT: 0.505452 s, deltaX: 0.100000 m, approachRate: 0.197843 m/s, rangeRepo size: 4   Added new target pos. range: 20.312374 m, bearing: 250.810061 deg, lat: 36.779365 deg, lon: -121.859561 deg, deltaT: 0.505452 s, deltaX: 0.099585 m, approachRate: 0.197021 m/s, posRepo size: 4  DNOT Ignoring new targets: 20.31 m.hh*h"h hgfffddjd%`ff4@Zd%@?ZaZaZaZeO@) Oi|9)顝iiIIm9DDAT read: Rx Time:04:02:08.8317 %TRx dataTimestamp_ set to:1761537730.1181645PDAT read: Bearing 62.7, 48.9 (Local) 5~Local bearing/azimuth received: Bearing 62.7, 48.9 (Local) uDAT read: Range 11 to 50 : 20.3 m (trip time 13.5 ms) speed -0.1 9@ @@`4@@@=m DAT read: 04:02:08.8317 LVL= 16656, 20833, 29618, 31667, AGC= 52, IDX= 504, 0.29,-1.207,-1.053,-2.860,-1.149, PHS= 0.044, 0.142,-1.754, RAW= 27.4, 16.7, CAL= 25.1, 19.5, ROT= 124.9, -19.5 u Ygot valid direction response: 04:02:08.8317 LVL= 16656, 20833, 29618, 31667, AGC= 52, IDX= 504, 0.29,-1.207,-1.053,-2.860,-1.149, PHS= 0.044, 0.142,-1.754, RAW= 27.4, 16.7, CAL= 25.1, 19.5, ROT= 124.9, -19.5  T#Rx 57: Read range and direction messages. ^direction in FSK: [-0.539328,0.773109,0.333807] Fpublishing direction and range infoy}ď-BݾO?{{]?YfAAaQs {)4IX94=ish>࿩G>;>K>  ) @Io.lJz{Oxa? ο)y%I @i checking for new query: numPingsReceived=57, elapsed TxPingTime=28.085321^A I I O >}9$,?A(bEUT4jEU [4rEUA0E^ E^E^)E\"E^9;*E^Z:VE^FA4ZE\ab@ab@ab@ab@U?L @ȱ!ٱ# 5AHRS rotation from veh to nav: [[-0.591257,-0.806425,-0.009675],[0.806423,-0.591023,-0.019329],[0.009869,-0.019230,0.999766]]H@<uЃ7?@ʓ#6??iU?I5^;CYEMqByEeIIM4=)MpyMj9Y=\FyX<E>checking for new query: numPingsReceived=57, elapsed TxPingTime=28.255215Q 5%s49?Q 9%s4"O)aBY%>Q E%:y-:@Q I-?UCIq;i; s4y5Bɮ5[A5ץEii?AԁJiARiAji;@bu@|%fL@/@`M@R}ď-BݾO?{{]?Zi @bij [jSA(2)Y@Z& ӿJs,)?2iB:i"i_띊?*iR,BiSBi_띊?iG4iBiAiRf@ addTargetRange:: Added new target pos. range: 20.299999 m, deltaT: 0.502742 s, deltaX: -0.100000 m, approachRate: -0.198910 m/s, rangeRepo size: 4  Added new target pos. range: 20.212805 m, bearing: 251.086032 deg, lat: 36.779364 deg, lon: -121.859559 deg, deltaT: 0.502742 s, deltaX: -0.099569 m, approachRate: -0.198053 m/s, posRepo size: 4 DNOT Ignoring new targets: 20.21 m.hh*h"h hg!f!f!f%!Bd)d)jd-L4@Zd-@?Zm>Zm>Zm@Zm:@ȱ!) i/9)顽iiIIԱ9  DDAT read: Rx Time:04:02:09.3319  TRx dataTimestamp_ set to:1761537730.622037 PDAT read: Bearing 63.2, 49.0 (Local)  ~Local bearing/azimuth received: Bearing 63.2, 49.0 (Local)  DAT read: Range 11 to 50 : 20.6 m (trip time 13.7 ms) speed -0.2  DAT read: 04:02:09.3319 LVL= 14688, 18673, 26514, 31635, AGC= 51, IDX= 506, 0.03,-0.610,-0.442,-2.256,-0.540, PHS= 0.032, 0.144,-1.759, RAW= 27.0, 16.8, CAL= 24.8, 19.7, ROT= 125.2, -19.7  Ygot valid direction response: 04:02:09.3319 LVL= 14688, 18673, 26514, 31635, AGC= 51, IDX= 506, 0.03,-0.610,-0.442,-2.256,-0.540, PHS= 0.032, 0.144,-1.759, RAW= 27.0, 16.8, CAL= 24.8, 19.7, ROT= 125.2, -19.7  T#Rx 58: Read range and direction messages. ^direction in FSK: [-0.542694,0.769318,0.337095] Fpublishing direction and range infoy  H]ῼw@?M?Y ̤A `9 H g {) 3 9@  @ @ 4@ I o=i t> &Ῡ :F> Q > k> x >) @I x -, AeK \:R? Ͽ) lrI @i x - checking for new query: numPingsReceived=58, elapsed TxPingTime=28.529200By By B} IB} pBB} =By By B} E;B} `:E ^A]#IiIyO?q+,,J?A2?2 @2+N2ٱ2% :AHRS rotation from veh to nav: [[-0.601219,-0.798962,-0.013978],[0.799080,-0.601064,-0.013921],[0.002721,-0.019539,0.999805]]2H/=w?`;If?@ g?i2?I2b^;2CYBcqByBrIEJ EJEJ,EH"EJy>;*EJr:VEJg4ZEHBEJU9hYh=n\Fyln<En>pQ 5ms4r?Q 9ms4rJ)r+aBYiym@Q Im?rVCIr<] J ⿩] Z;>] #>] Pw> ] K>)] L @I] KY Y ] SmloSst{o ? ] ѿ)] 2I] L @i] KY Y  checking for new query: numPingsReceived=59, elapsed TxPingTime=29.033276q ^A?΅IIIiO>4,,DѰ?Ao@}e@AO7<ٱ-E- E-E-*E)"E-=;*E-:VE-(N4ZE)a=@a=@a=@a=@ EAHRS rotation from veh to nav: [[-0.620769,-0.783682,-0.022081],[0.783914,-0.620862,-0.003217],[-0.011188,-0.019307,0.999751]]H`W  c?`Zj醿@œ?io@I*`^;CYUqByUI YYi5Mb@Mb@Mb@1111 195v/? rhQ?Y5x>y5C5\=5MA1 5JA)5nFA1Y5HAbDIVDIyeZ=%e=ٔe9iYi=m\Fyim@==Eu>qQ 5}s4u埊?Q 9s4uDE)uQ E:y@Q I?uGVCIu ;iu& ;u-s4yBɮZAii"ǰ?AJiRijiՍ@b<7&#hy]/@hY@R$ῗRC?<O?ZiL @biKj{S72C7@ZT.rп QBZ>Z-S@ZK@AO7<) Qi9)~aiiII9{>i!>! @  @ @ 4@  DDAT read: Rx Time:04:02:10.3321  TRx dataTimestamp_ set to:1761537731.628718 PDAT read: Bearing 63.7, 48.2 (Local)  ~Local bearing/azimuth received: Bearing 63.7, 48.2 (Local)  DAT read: Range 11 to 50 : 20.9 m (trip time 13.9 ms) speed -0.2 I e DAT read: 04:02:10.3321 LVL= 13376, 18033, 26418, 28963, AGC= 52, IDX= 508,-0.16,-2.914,-2.691, 1.780,-2.789, PHS=-0.023, 0.143,-1.759, RAW= 25.5, 17.6, CAL= 23.4, 20.8, ROT= 126.6, -20.8 m Ygot valid direction response: 04:02:10.3321 LVL= 13376, 18033, 26418, 28963, AGC= 52, IDX= 508,-0.16,-2.914,-2.691, 1.780,-2.789, PHS=-0.023, 0.143,-1.759, RAW= 25.5, 17.6, CAL= 23.4, 20.8, ROT= 126.6, -20.8 u T#Rx 60: Read range and direction messages.} ^direction in FSK: [-0.557366,0.750494,0.355107]} Fpublishing direction and range infoy  Zῇ ; ?_S{?Y 3A @4 qF 2g #q) 4B B B JIB "qBB =B B B &;B @:EI ji &Ῡ > nF> > ޹>) i @I ޹ q0,94ugrB_? 9(ӿ) qI i @i ޹ ] checking for new query: numPingsReceived=60, elapsed TxPingTime=29.560873^A#I!I9OE>>;,*ﰻ?AF`=@F3@F<ٱF% ^AHRS rotation from veh to nav: [[-0.630493,-0.775759,-0.025997],[0.775991,-0.630741,0.001771],[-0.017772,-0.019057,0.999660]]FH- ?/]?@2 7?iF`=@IFq8^;FCYfqByfIbD~VD~1y =%A=ٔr~9Y=\FyZ<E>!Q 5Ms4%Fݟ?Q 9Ms4%@)%HaBYQyU@Q IU?%yVCI%;i%~;%w |٠> b>  V>) 2@I V   +qRK N濚?  Կ) РI 2@i V   checking for new query: numPingsReceived=61, elapsed TxPingTime=30.041269 ^A% ƂI1 IA OM >B, ?AjG|]9YY]AM @M>@M<ٱM`} ]AHRS rotation from veh to nav: [[-0.640123,-0.767689,-0.029930],[0.767889,-0.640549,0.006644],[-0.024273,-0.018730,0.999530]]MH {@@?`+7{?ژ- &?iM @IMa^^;MCYqByII=)=Ee Ee Ee1Ea"Ee8;*Ee:VEe-4ZEaam@am@am@am@iuMb@Mb@Mb@qqqq q9ugfffff?ktyu ut9Y=\Fy<E>Q 5s4lџ?Q 9s4T:)MaBYS>Q E:y@Q I?VCI:i:Qs4yɮYZAiIiM}?AJiIRiIjiM9@bM ['0rE*.@<@RMY'd#b?+=??ZiM 2@biMVjMcQ.oa2'^5@ZM7P˿q쿃v29?2iMϖ:iMt"iM scR?*iMB+*BiMBiM.a$?iM,iMBiMAiMf@iqIq}checking for new query: numPingsReceived=61, elapsed TxPingTime=30.271280 addTargetRange:: Added new target pos. range: 20.900000 m, deltaT: 0.503967 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 20.810282 m, bearing: 256.443506 deg, lat: 36.779370 deg, lon: -121.859555 deg, deltaT: 0.503967 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 20.81 m.hh*h"h hgfffaBddjdZd?ZMS>ZMS>ZMT@ZMu@]<)Y ]i]l9)Ye e#;iaiII!  K9I 9@  @ @ _0@ 5DDAT read: Rx Time:04:02:11.3323 5TRx dataTimestamp_ set to:1761537732.637604EPDAT read: Bearing 64.8, 47.6 (Local) M~Local bearing/azimuth received: Bearing 64.8, 47.6 (Local) ]DAT read: Range 11 to 50 : 21.2 m (trip time 14.1 ms) speed -0.3 DAT read: 04:02:11.3323 LVL= 12976, 17569, 25554, 28499, AGC= 47, IDX= 510, 0.03, 1.505, 1.786,-0.016, 1.676, PHS=-0.069, 0.155,-1.737, RAW= 23.8, 18.1, CAL= 21.9, 21.4, ROT= 128.1, -21.4 Ygot valid direction response: 04:02:11.3323 LVL= 12976, 17569, 25554, 28499, AGC= 47, IDX= 510, 0.03, 1.505, 1.786,-0.016, 1.676, PHS=-0.069, 0.155,-1.737, RAW= 23.8, 18.1, CAL= 21.9, 21.4, ROT= 128.1, -21.4 T#Rx 62: Read range and direction messages.^direction in FSK: [-0.574495,0.732680,0.364877]Fpublishing direction and range infoy15-Cb⿧jXr?>8^.$Z?Y5A1525D5c 5So)5/I5Oi5R>5V޿5ȭ>5?>5E> 5t;>)5@I5t;115<^9]>6(? 5ֿ)5YI5@i5t;11checking for new query: numPingsReceived=62, elapsed TxPingTime=30.540899B>BBiIBUqBB =BBB;B+:EB2CB2CBBί =Bί =CG?4ԙ^AIIO?K,0?A4<ɰ;Bt@B@B<ٱB h nAHRS rotation from veh to nav: [[-0.649748,-0.759373,-0.034338],[0.759538,-0.650375,0.010742],[-0.030490,-0.019102,0.999353]]BH@`Lǔ!N?@?8 _ ?iBt@IBX^;BCYvqByvIbDVDf?ym%u7=ٔud9yYy=}\Fyy}<E}>Q 5s4?ȟ?Q 9s4o5)OaBYyi@Q I?VCI\;i;`s4yBɮZA֥EE EE)E"E:;*E:VEFA4ZEBE2@b%A(GK\ީ.@% @R-Cb⿧jXr?>8^.$Z?Zi@bit;j40Q/30@Z!3Sg ɿ|>?2i~:i%"iPBl?*ihR.BiUBi^8?ihR.ieBiAi @ addTargetRange:: Added new target pos. range: 21.200001 m, deltaT: 0.504919 s, deltaX: 0.300001 m, approachRate: 0.594157 m/s, rangeRepo size: 4  Added new target pos. range: 21.108986 m, bearing: 257.853695 deg, lat: 36.779373 deg, lon: -121.859556 deg, deltaT: 0.504919 s, deltaX: 0.298704 m, approachRate: 0.591588 m/s, posRepo size: 4 DNOT Ignoring new targets: 21.11 m.hh*h"h hgfffddjd@335@Zd @?Z1Z1Z1Z5i@e<)i mximŕ9)imⶉm޲ -ݿ 4Q> Ƈ> t;> >) ȥ@I XDc--,:r˷ ? Zؿ) $I ȥ@i ] checking for new query: numPingsReceived=63, elapsed TxPingTime=31.051546^A _ⅾԹ I I O >KS,M?AJ'@JȞ@JP=ٱJ襼 AHRS rotation from veh to nav: [[-0.659054,-0.751069,-0.039287],[0.751209,-0.659914,0.014073],[-0.036496,-0.020238,0.999129]]JHj@ ?rҌ?`.?iJ'@IJ\^;HYqByIbDVD0y%!=ٔ-z@91Y1=5\Fy15 <E=>9Q 5Es4EU EUEU-EQ"EU=;*EUr:VEUt4ZEQa]@a]@a]@a]@=?Q 9ms4=/)=PaBYiym7@Q Im?=9WCI=y;i=!;=rs4yu Bɮ} ZA}̥Ei9i=GI?AJi9Ri9ji=@b=ۍx(-.@L8@R=z.;ʼ% ߿% %>% MQ>% f> % >)% )@I% ľ! ! % J} ? W[وX? % &;ٿ)% I% )@i% ľ! !  checking for new query: numPingsReceived=64, elapsed TxPingTime=31.548319B B B vIB iqBB =B B B ;B &:Eԡ^AIIO?&4[,n?A((E@};@.D=ٱ"몼 AHRS rotation from veh to nav: [[-0.677440,-0.734024,-0.047795],[0.734018,-0.678804,0.021026],[-0.047877,-0.020839,0.998636]]H }x}?`ø؇? ZV?iE@Ia^;CYqByIiMb@Mb@Mb@ 9v/?~jt{GztYx>yĽףNACA nFA)SKAYIAE EEE"E<;*E:VEZEBEÓ91Y1==\Fy9=F=E=>AQ 5Ms4E?Q 9Ms4Eh*)ECaBYU>Q EU:yU@Q Iu?EwWCIEB;iE;Es4yyɮ}ZAii\Ui?AJiARiAji@bj (}[.@@R*R??Zi)@bi ľj h.9J3Eeÿo?2iQ:iM"iE?*iM%Bi4BiPBl?iB+*iUBiAi@5 addTargetRange:: Added new target pos. range: 21.299999 m, deltaT: 0.504888 s, deltaX: 0.099998 m, approachRate: 0.198061 m/s, rangeRepo size: 4 E Added new target pos. range: 21.208517 m, bearing: 260.541499 deg, lat: 36.779378 deg, lon: -121.859554 deg, deltaT: 0.504888 s, deltaX: 0.099531 m, approachRate: 0.197135 m/s, posRepo size: 4 EDNOT Ignoring new targets: 21.21 m.hAhA*hA"hA hIgIfIfqfuTBdqdqjduL5@Zd}?Z>Z>Z l@Z*@checking for new query: numPingsReceived=64, elapsed TxPingTime=31.782986.D=) i%9)ziiI)I))9Y 9@  @ @ /@ y  DDAT read: Rx Time:04:02:12.8325  TRx dataTimestamp_ set to:1761537734.148766 PDAT read: Bearing 62.8, 45.5 (Local)  ~Local bearing/azimuth received: Bearing 62.8, 45.5 (Local)  DAT read: Range 11 to 50 : 21.5 m (trip time 14.3 ms) speed -0.3  DAT read: 04:02:12.8325 LVL= 12816, 16001, 24802, 27459, AGC= 48, IDX= 512,-0.45, 2.054, 2.451, 0.339, 2.388, PHS=-0.233, 0.107,-2.093, RAW= 21.8, 20.9, CAL= 20.1, 24.9, ROT= 129.9, -24.9  Ygot valid direction response: 04:02:12.8325 LVL= 12816, 16001, 24802, 27459, AGC= 48, IDX= 512,-0.45, 2.054, 2.451, 0.339, 2.388, PHS=-0.233, 0.107,-2.093, RAW= 21.8, 20.9, CAL= 20.1, 24.9, ROT= 129.9, -24.9  T#Rx 65: Read range and direction messages. ^direction in FSK: [-0.581823,0.695853,0.421036] Fpublishing direction and range infoy  =j7K@lD?˽&@?Y A 2 > ` Ck) I ni "=  > ú> > />) @I /޾ I[)>7aVK? ۿ) I @i /޾ % checking for new query: numPingsReceived=65, elapsed TxPingTime=32.050896^Au#IyIO>G@c,Ӣ?A!* @@:Z=ٱ': AHRS rotation from veh to nav: [[-0.685951,-0.725800,-0.051823],[0.725690,-0.687589,0.024400],[-0.053343,-0.020870,0.998358]]HO98?@@F?`O_?i* @I|y^;CY]}qByeIE EE)E"E*EI:VEFA4ZEa@a@a@a@9iMb@Mb@Mb@ 9l?RQQY>y½MA EA)(LAYHAbDVDy9'%=ٔ&9Y=\Fy<E>!Q 5-s4%'?Q 9-s4%&%)%'aBY->Q E-:y-@Q I-?%WCI%:i%>;%s4y]Bɮ]PZAYiib?AJiBARiBAji_<@b-B3(S -@I."@R=j7K@lD?˽&@?Zi@bi/޾j J(EH0a3zme^F"@checking for new query: numPingsReceived=65, elapsed TxPingTime=32.287010Z'ZՆB>~;^y?2i~:i /"iž?*i맅BisBis?i(iBiUAiK@ addTargetRange:: Added new target pos. range: 21.500000 m, deltaT: 0.502931 s, deltaX: 0.200001 m, approachRate: 0.397670 m/s, rangeRepo size: 4  Added new target pos. range: 21.407660 m, bearing: 261.834242 deg, lat: 36.779380 deg, lon: -121.859553 deg, deltaT: 0.502931 s, deltaX: 0.199142 m, approachRate: 0.395964 m/s, posRepo size: 4 DNOT Ignoring new targets: 21.41 m.hh*h"h hgfffCBddjd5@Zd?iZ>Z>Z@Zy@m:Z=)q uQiuܜ9)顥-iiIIԑ E i9u DDAT read: Rx Time:04:02:13.3327 } TRx dataTimestamp_ set to:1761537734.654041 PDAT read: Bearing 66.1, 46.7 (Local)  ~Local bearing/azimuth received: Bearing 66.1, 46.7 (Local)  DAT read: Range 11 to 50 : 21.8 m (trip time 14.5 ms) speed -0.3  DAT read: 04:02:13.3327 LVL= 10640, 12529, 21458, 20883, AGC= 50, IDX= 2,-0.20,-0.844,-0.480,-2.279,-0.594, PHS=-0.148, 0.159,-1.729, RAW= 21.3, 19.1, CAL= 19.7, 22.8, ROT= 130.3, -22.8  Ygot valid direction response: 04:02:13.3327 LVL= 10640, 12529, 21458, 20883, AGC= 50, IDX= 2,-0.20,-0.844,-0.480,-2.279,-0.594, PHS=-0.148, 0.159,-1.729, RAW= 21.3, 19.1, CAL= 19.7, 22.8, ROT= 130.3, -22.8  T#Rx 66: Read range and direction messages.B B B pIB _qBB B B B ;B ):E^direction in FSK: [-0.596252,0.703076,0.387516]Fpublishing direction and range infoyy } |K~8qk?h%?Y} fAy } )} 0} S } Q)} 2I} Pi} ">} Oݿ} V>} 㭪>} x > } %>)} @I} %˾y y } ',EȬS¿$E I? } هܿ)} 8I} @i} %˾y y Echecking for new query: numPingsReceived=66, elapsed TxPingTime=32.5665259@ @@%/@!E EE+E"E:;*E:VE [4ZEBE29`Y`=b\Fy`f.=Ef>hQ 5ns4jn?Q 9ns4j@ )j aBYlyr@Q Ir?jWCIj:ij:jis4ytɮvZAt5checking for new query: numPingsReceived=66, elapsed TxPingTime=32.790970ii۩?AJiARiAji@b#S).@w6Ϸ @R|K~8qk?h%?Zi@bi%˾jPzqP=f34a2"!@Z Lv2㺿^+0?2id:i"iNߞ?*i%BipBiE?iM%i4Bi4Ai[@ addTargetRange:: Added new target pos. range: 21.799999 m, deltaT: 0.505275 s, deltaX: 0.299999 m, approachRate: 0.593735 m/s, rangeRepo size: 4 - Added new target pos. range: 21.706375 m, bearing: 263.389732 deg, lat: 36.779384 deg, lon: -121.859552 deg, deltaT: 0.505275 s, deltaX: 0.298716 m, approachRate: 0.591194 m/s, posRepo size: 4 -DNOT Ignoring new targets: 21.71 m.h)h1*h1"h1 h1g1f1f9f9d9d9jdE5@ZdED.?ZZZZ@=Vq=q) ti9)&@iiII!ԉ:9DDAT read: Rx Time:04:02:13.8327 TRx dataTimestamp_ set to:1761537735.157999 PDAT read: Bearing 66.7, 46.8 (Local)  ~Local bearing/azimuth received: Bearing 66.7, 46.8 (Local)  DAT read: Range 11 to 50 : 21.8 m (trip time 14.5 ms) speed -0.3 = DAT read: 04:02:13.8327 LVL= 13024, 16577, 23890, 27411, AGC= 47, IDX= 498,-0.02,-1.885,-1.510, 2.983,-1.630, PHS=-0.153, 0.164,-1.715, RAW= 20.9, 19.1, CAL= 19.4, 22.8, ROT= 130.6, -22.8 M Ygot valid direction response: 04:02:13.8327 LVL= 13024, 16577, 23890, 27411, AGC= 47, IDX= 498,-0.02,-1.885,-1.510, 2.983,-1.630, PHS=-0.153, 0.164,-1.715, RAW= 20.9, 19.1, CAL= 19.4, 22.8, ROT= 130.6, -22.8 M T#Rx 67: Read range and direction messages.] ^direction in FSK: [-0.599925,0.699944,0.387516]e Fpublishing direction and range infoyOe2ϊ3Ue?h%?Y2@R] k)/Ii'>ۿú>-\> )@IԹ g*=ÿ9p{(jS? Pݿ)7tI@i checking for new query: numPingsReceived=67, elapsed TxPingTime=33.080845q @y  @y @y @y ^Ae#IyDyzDybE g4jE g4rE ~m0E EE.E"E3;*E:VEـ4ZEa@a@a@a@IO>Iu,V-ֱ?A% @%h@%=ٱ% 5AHRS rotation from veh to nav: [[-0.707963,-0.703214,-0.065407],[0.702838,-0.710607,0.032494],[-0.069330,-0.022966,0.997329]]%H@ }?@K?@@i?i% @I%bj^;%CYE*qByEOIqchecking for new query: numPingsReceived=67, elapsed TxPingTime=33.294998iMb@Mb@Mb@ 9Q?(\µJ +Yµ>yH(LAEA CA)MAYbDVD1y%=ٔy9Y=\Fy<E>Q 5-s4?Q 9Us4)`BYe>Q Ee;ye@Q Im?XCI3Z->Z-@Z-à@==)9 =Qi9)顅UiiIIԹ DDAT read: Rx Time:04:02:14.3329  TRx dataTimestamp_ set to:1761537735.660833 PDAT read: Bearing 67.3, 46.7 (Local)  ~Local bearing/azimuth received: Bearing 67.3, 46.7 (Local)  DAT read: Range 11 to 50 : 22.1 m (trip time 14.7 ms) speed -0.3  DAT read: 04:02:14.3329 LVL= 13584, 16161, 23650, 28483, AGC= 46, IDX= 500, 0.13,-0.302, 0.086,-1.695,-0.039, PHS=-0.161, 0.170,-1.700, RAW= 20.4, 19.1, CAL= 19.0, 22.8, ROT= 131.0, -22.8  Ygot valid direction response: 04:02:14.3329 LVL= 13584, 16161, 23650, 28483, AGC= 46, IDX= 500, 0.13,-0.302, 0.086,-1.695,-0.039, PHS=-0.161, 0.170,-1.700, RAW= 20.4, 19.1, CAL= 19.0, 22.8, ROT= 131.0, -22.8 B B B PIB ,qBB B B B #;B =:E T#Rx 68: Read range and direction messages. 9  ^direction in FSK: [-0.604797,0.695739,0.387516]E Fpublishing direction and range infoy  #{b~ZOSo~C?h%?Y ̰A 5 !? b\ Co) .I /$i {.> ٿ K> ɩ> ) T@I zגĿ^fD? c޿) ˀI T@i  checking for new query: numPingsReceived=68, elapsed TxPingTime=33.628593] 9@Y  @Y @e 4@a E5 E5E5(E1"E5%.;*E5d:VE5c44ZE1BE5:checking for new query: numPingsReceived=68, elapsed TxPingTime=33.798885@RU @R@R~ =ٱR\ jAHRS rotation from veh to nav: [[-0.714286,-0.696389,-0.069554],[0.695860,-0.717296,0.035564],[-0.074658,-0.022997,0.996944]]RHn`H`Oα|D?w5?@ ?iRU @IR&W^;RCYqBy%@IbD5VD5yEfG%E$=ٔE09IYI=u\Fyqu<Eu>yQ 5s4}?Q 9s4})}`BYy7@Q I?}LXCI}:i}p:}8s4yBɮ[A˥EiYi]K걻?AJi] ARi] Aji]X@b]*]}.@V1 !@R]#{b~ZOSo~C?h%?Zi]T@biYj]z$Qw3HVDqI"@Z]"!JWJ쿕*!"J?2i]:i]߿"i]B?*i]+1$Bi]ъBi]Nߞ?i]+1$i]wBi]aAi]Qx@ԡ addTargetRange:: Added new target pos. range: 22.100000 m, deltaT: 0.502834 s, deltaX: 0.300001 m, approachRate: 0.596621 m/s, rangeRepo size: 4  Added new target pos. range: 22.005095 m, bearing: 264.988394 deg, lat: 36.779390 deg, lon: -121.859551 deg, deltaT: 0.502834 s, deltaX: 0.298719 m, approachRate: 0.594072 m/s, posRepo size: 4 DNOT Ignoring new targets: 22.01 m.hh*h"h hgfffddjd6@ZdqQ?ZZZZ 7@~ =) i9)页]hiiII)-%=5DDAT read: Rx Time:04:02:14.8329 =TRx dataTimestamp_ set to:1761537736.164947EPDAT read: Bearing 67.6, 46.8 (Local) E~Local bearing/azimuth received: Bearing 67.6, 46.8 (Local) UDAT read: Range 11 to 50 : 22.1 m (trip time 14.7 ms) speed -0.3 DAT read: 04:02:14.8329 LVL= 13584, 16817, 24562, 27075, AGC= 46, IDX= 500, 0.24,-0.749,-0.355,-2.133,-0.478, PHS=-0.169, 0.168,-1.699, RAW= 20.3, 19.2, CAL= 18.8, 23.0, ROT= 131.2, -23.0 Ygot valid direction response: 04:02:14.8329 LVL= 13584, 16817, 24562, 27075, AGC= 46, IDX= 500, 0.24,-0.749,-0.355,-2.133,-0.478, PHS=-0.169, 0.168,-1.699, RAW= 20.3, 19.2, CAL= 18.8, 23.0, ROT= 131.2, -23.0 E T#Rx 69: Read range and direction messages.M ^direction in FSK: [-0.606327,0.692602,0.390731]U Fpublishing direction and range infoy15&}g O)?dK?Y1115A5_ 5i)1I5V-i51,>5xٿ5 g>5>5> 5>)5C@I5;115WwĿғ]O:K? 5޿)5)ϫI5C@i5;11 checking for new query: numPingsReceived=69, elapsed TxPingTime=34.096249 9  9@  @ @ 4@ ) E  E E /E "E ;;*E :VE J4ZE a @a @a @a @^A9IIIaOu?L#,?A:checking for new query: numPingsReceived=69, elapsed TxPingTime=34.3030362D @2Q:@2=ٱ2 BAHRS rotation from veh to nav: [[-0.720438,-0.689620,-0.073442],[0.688913,-0.723814,0.038634],[-0.079802,-0.022762,0.996551]]2H @]Ͳ ?{)ǣ?@m N?i2D @I2^;2CYJqByJ6IpiMb@Mb@Mb@ 9㥛 ?S㥫y&1Y>y/]`eLACA @A)lOAYQHA U49Y=\Fy<E>Q 5s4M?Q 9s4)`BY>Q E/;y @Q I?wXCI.:iX:s4yɮ2\AiIiM~ ?AJiIRiIjiM5W@bMj:?* uE{.@K62!@RM&}g O)?dK?ZiMC@biM;jMMxv.3B&+ "@ZMZa5˱|y">~?2iM :iMÿ"iMi?*iMtDBiMBiMу잊?iMB!iMъBiMeAiM@E addTargetRange:: Added new target pos. range: 22.100000 m, deltaT: 0.504114 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 ] Added new target pos. range: 22.005095 m, bearing: 265.602916 deg, lat: 36.779392 deg, lon: -121.859550 deg, deltaT: 0.504114 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 ]DNOT Ignoring new targets: 22.01 m.hYhY*ha"ha hagafafifmBdidqjdqZdu{?Z>Z>Z5@Z` @=)  iv9)顭q{iiII9%DDAT read: Rx Time:04:02:15.3331 %TRx dataTimestamp_ set to:1761537736.6686835PDAT read: Bearing 67.9, 46.8 (Local) 5~Local bearing/azimuth received: Bearing 67.9, 46.8 (Local) MDAT read: Range 11 to 50 : 22.4 m (trip time 14.9 ms) speed -0.3 Be>BaBe%IBepBBe =BaBeDBe<;BeX:EDAT read: 04:02:15.3331 LVL= 13040, 14609, 23906, 27283, AGC= 46, IDX= 502, 0.26, 0.396, 0.800,-0.973, 0.678, PHS=-0.180, 0.166,-1.696, RAW= 19.9, 19.4, CAL= 18.5, 23.2, ROT= 131.5, -23.2 Ygot valid direction response: 04:02:15.3331 LVL= 13040, 14609, 23906, 27283, AGC= 46, IDX= 502, 0.26, 0.396, 0.800,-0.973, 0.678, PHS=-0.180, 0.166,-1.696, RAW= 19.9, 19.4, CAL= 18.5, 23.2, ROT= 131.5, -23.2 T#Rx 70: Read range and direction messages.^direction in FSK: [-0.609038,0.688392,0.393942]Fpublishing direction and range infoy!%^<}qM?3X6?Y%3A!%2%9%b] %j)!I%Q8i%)>%ٿ t9%ӱ>%-\>%MQ> %4Q>)% @I%4QϾ!!%ך K~ſžcF? %Y߿)%~I% @i%4QϾ!!m checking for new query: numPingsReceived=70, elapsed TxPingTime=34.596954i 9@  @ @ 2@ ԙ E  E E ,E "E 1A;*E -:VE g4ZE BE o,?8?A~checking for new query: numPingsReceived=70, elapsed TxPingTime=34.806877Y5pBy5IbDMVDM0y}} %}F=ٔ}Q-}>9Y=\FyE>Q 5s4o?Q 9s4)m`BYyQ I?XCI:i4:s4yɮ]Aii*?AJinARinAji@b0P*+Jwy&.@%\ԧ!@R^<}qM?3X6?Zi @bi4QϾjCj'-!4v8"@ZOhg|F|Pè;?2i:i>"i5P{?*ier#Bi_BiB?ier#iiAi"J@ addTargetRange:: Added new target pos. range: 22.400000 m, deltaT: 0.503736 s, deltaX: 0.299999 m, approachRate: 0.595549 m/s, rangeRepo size: 4  Added new target pos. range: 22.303888 m, bearing: 265.888264 deg, lat: 36.779393 deg, lon: -121.859551 deg, deltaT: 0.503736 s, deltaX: 0.298794 m, approachRate: 0.593156 m/s, posRepo size: 4 DNOT Ignoring new targets: 22.30 m.hh*h"h hgfffd!d!jd%`ff6@Zd%~?ZaZaZaZaq) ψi9)iiIIQDDAT read: Rx Time:04:02:15.8331 TRx dataTimestamp_ set to:1761537737.173485PDAT read: Bearing 68.3, 46.9 (Local) ~Local bearing/azimuth received: Bearing 68.3, 46.9 (Local) DAT read: Range 11 to 50 : 22.4 m (trip time 14.9 ms) speed -0.2  DAT read: 04:02:15.8331 LVL= 13456, 15793, 25522, 28275, AGC= 47, IDX= 502, 0.16, 0.128, 0.535,-1.233, 0.413, PHS=-0.183, 0.166,-1.690, RAW= 19.8, 19.4, CAL= 18.4, 23.3, ROT= 131.6, -23.3  Ygot valid direction response: 04:02:15.8331 LVL= 13456, 15793, 25522, 28275, AGC= 47, IDX= 502, 0.16, 0.128, 0.535,-1.233, 0.413, PHS=-0.183, 0.166,-1.690, RAW= 19.8, 19.4, CAL= 18.4, 23.3, ROT= 131.6, -23.3  T#Rx 71: Read range and direction messages. ^direction in FSK: [-0.609781,0.686812,0.395545] Fpublishing direction and range infoyuaRi^?EFTP?Y4= - gg>) c sn)/IZd;iQؿ;>m S9I gA) G  l> 5>)@I5о 9 Y A 9@  @ @ a0@ @ =@ =q PYſF2b1_78Q? ߿)3ܭI@i5оy ? mA checking for new query: numPingsReceived=71, elapsed TxPingTime=35.153759Eu EuEqEq"Eu=;*Eu:VEqZEqa@ԙa@a@a@^AI IO%>!ޕ,cX?AB @Bj@B=ٱBo RAHRS rotation from veh to nav: [[-0.736145,-0.671333,-0.086039],[0.670132,-0.740785,0.046483],[-0.094942,-0.023439,0.995207]]BH@{@q?̧?`N@Z?iB @IB~^;BCYjpByjI=checking for new query: numPingsReceived=71, elapsed TxPingTime=35.310947iUMb@Mb@Mb@QQQQ Q9U +?L7A`堿YUv>yU+ULQԩU+CA UAA)URAQYUIAbDUVDU0y;%=ٔ9Y=\Fy.=E>Q 5%t4 y?Q 9%t4)C`BY%K~>Q E%U;y%@Q I-?XCI;iq;t4y5Bɮ5|\A5EiiaK?AJiRiji '@b?r3+% .@uqϬ!@RuaRi^?EFTP?Zi@bi5оjvD𿧹C 4 l#@Z2Z#ܪؗ-3U?2ij:i"iф>"?*i^%BiӋBii?iB!iBiAi@ addTargetRange:: Added new target pos. range: 22.400000 m, deltaT: 0.504802 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 22.303888 m, bearing: 267.056607 deg, lat: 36.779394 deg, lon: -121.859550 deg, deltaT: 0.504802 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 22.30 m.hh*h"h hgfffBdd jd Zd `#?ZmK~>ZmK~>Zm@Zm1@=) i9)BiiII DDAT read: Rx Time:04:02:16.3332 TRx dataTimestamp_ set to:1761537737.676660PDAT read: Bearing 68.1, 46.7 (Local) ~Local bearing/azimuth received: Bearing 68.1, 46.7 (Local) A A AAB B B IB pBB B B B U;B q:EBBBBBCȐ45 DAT read: Range 11 to 50 : 22.5 m (trip time 15.0 ms) speed -0.1 9 e DAT read: 04:02:16.3332 LVL= 12880, 13937, 23202, 26995, AGC= 47, IDX= 503,-0.06,-0.603,-0.197,-1.944,-0.303, PHS=-0.198, 0.151,-1.685, RAW= 19.7, 19.9, CAL= 18.3, 23.8, ROT= 131.7, -23.8 u Ygot valid direction response: 04:02:16.3332 LVL= 12880, 13937, 23202, 26995, AGC= 47, IDX= 503,-0.06,-0.603,-0.197,-1.944,-0.303, PHS=-0.198, 0.151,-1.685, RAW= 19.7, 19.9, CAL= 18.3, 23.8, ROT= 131.7, -23.8 } T#Rx 72: Read range and direction messages. ^direction in FSK: [-0.608659,0.683144,0.403545] Fpublishing direction and range infoy)R1"z=P?Q?YAP2q6Z si)IJi>׿x >ӱ>Ƈ> ȭ>)=@IȭԾ-ܤOſZ I? 2)I=@iȭԾ checking for new query: numPingsReceived=72, elapsed TxPingTime=35.588310 9I @Q  @Q @U /@Q y E EEE"E8;*E;:VEZEBE؏9Y=\FyE>Q 5t4r?Q 9t4N )`BYyQ I?XCI:i:t4y)ɮ5]A1i i fNk?AJi :ARi :Aji -@b E+SN .@K="@R )R1"z=P?Q?Zi =@bi ȭԾj [:y&4d#@Z y.NfB&^o`?2i q:i ց"i D?*i Bi !Bi 5P{?i tDi _Bi ѡAi >Ô@ addTargetRange:: Added new target pos. range: 22.500000 m, deltaT: 0.503175 s, deltaX: 0.100000 m, approachRate: 0.198739 m/s, rangeRepo size: 4  Added new target pos. range: 22.403452 m, bearing: 267.104566 deg, lat: 36.779395 deg, lon: -121.859549 deg, deltaT: 0.503175 s, deltaX: 0.099564 m, approachRate: 0.197871 m/s, posRepo size: 4 DNOT Ignoring new targets: 22.40 m.hh*h"h hgfffddjd6@Zd`&Q?Z Z Z Z ) %ϊi%9)!%!i!i)))I)I1ԑ @  @ @ 4@ DDAT read: Rx Time:04:02:16.8332 TRx dataTimestamp_ set to:1761537738.180803PDAT read: Bearing 68.6, 47.4 (Local) ~Local bearing/azimuth received: Bearing 68.6, 47.4 (Local)  DAT read: Range 11 to 50 : 22.5 m (trip time 15.0 ms) speed -0.1 5DAT read: 04:02:16.8332 LVL= 14256, 14545, 22002, 27443, AGC= 49, IDX= 502, 0.45, 0.692, 1.086,-0.658, 0.976, PHS=-0.183, 0.154,-1.678, RAW= 20.1, 19.7, CAL= 18.6, 23.5, ROT= 131.4, -23.5 =Ygot valid direction response: 04:02:16.8332 LVL= 14256, 14545, 22002, 27443, AGC= 49, IDX= 502, 0.45, 0.692, 1.086,-0.658, 0.976, PHS=-0.183, 0.154,-1.678, RAW= 20.1, 19.7, CAL= 18.6, 23.5, ROT= 131.4, -23.5 =T#Rx 73: Read range and direction messages.E^direction in FSK: [-0.606463,0.687897,0.398749]EFpublishing direction and range infoys$h㿁y]i@? ?Y78U 3k)1IZd;i->ֿ>x >6> ~>)t@I~Ѿ'[;Ŀu67>? J߿)طIt@i~Ѿechecking for new query: numPingsReceived=73, elapsed TxPingTime=36.083061Թ^A FӅI I O > ,j?AEM EMEM+EI"EMy>;*EM:VEM [4ZEIa]@a]@a]@a]@e @e@eG=ٱebż }AHRS rotation from veh to nav: [[-0.744822,-0.660528,-0.094566],[0.658962,-0.750417,0.051413],[-0.104924,-0.024022,0.994190]]eH #x56? kR? Hܺ g?ie @Ie ^;eCYpByIiMb@Mb@Mb@ 9zG?MbpQ롿Y W>y\MA ?A)YHAbD5 VD52yE=%EO=ٔE9IYI=M\FyQU=EU>YQ 5et4]m?Q 9et4] )]`BYe Z>Q Eey;ye2@Q Im?]XCI]& ;i] ;]$t4yuBɮu\Aqi!i%G?AJi!Ri!ji%Z@b%cx,+o.@*v!@R%s$h㿁y]i@? ?Zi%t@bi%~Ѿj%5v-쿕 4`~٨#@Z%+[[nLb?2i%x:i%g"i%o!?*i%~Bi%4Bi%D?i%^%i%ӋBi%áAi%EH@Mchecking for new query: numPingsReceived=73, elapsed TxPingTime=36.319023E addTargetRange:: Added new target pos. range: 22.500000 m, deltaT: 0.504143 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 u Added new target pos. range: 22.403452 m, bearing: 267.417965 deg, lat: 36.779397 deg, lon: -121.859549 deg, deltaT: 0.504143 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 uDNOT Ignoring new targets: 22.40 m.hyhy*hy"h hgfffπBddjdZd?Z Z>Z Z>Zs@Z2@G=) i9)!%)i)iaaiIiII@Q @Q@U4@Q@Y@Y!  DDAT read: Rx Time:04:02:17.3333  TRx dataTimestamp_ set to:1761537738.684722 PDAT read: Bearing 68.4, 48.0 (Local)  ~Local bearing/azimuth received: Bearing 68.4, 48.0 (Local) - DAT read: Range 11 to 50 : 22.7 m (trip time 15.1 ms) speed 0.0 ] DAT read: 04:02:17.3333 LVL= 14544, 13809, 23186, 27635, AGC= 48, IDX= 504,-0.07, 1.799, 2.167, 0.443, 2.072, PHS=-0.171, 0.140,-1.673, RAW= 20.8, 19.7, CAL= 19.2, 23.6, ROT= 130.8, -23.6 m Ygot valid direction response: 04:02:17.3333 LVL= 14544, 13809, 23186, 27635, AGC= 48, IDX= 504,-0.07, 1.799, 2.167, 0.443, 2.072, PHS=-0.171, 0.140,-1.673, RAW= 20.8, 19.7, CAL= 19.2, 23.6, ROT= 130.8, -23.6 m T#Rx 74: Read range and direction messages.} ^direction in FSK: [-0.598770,0.693682,0.400349]} Fpublishing direction and range infoy  ~ )ԇ2?^Q?Y A  8 5 Z  k) 0I /i )\> $ֿ ޹>  >  B>^A #I I O >) @I BҾ   Rÿ`9V[?  Sݿ) y]I @i BҾ  M checking for new query: numPingsReceived=74, elapsed TxPingTime=36.613331,􉮲?AB">B B"IB"oBB B B"DB";B"/:EV ) @V@Va=ٱV м bAHRS rotation from veh to nav: [[-0.748668,-0.655451,-0.099400],[0.653784,-0.754816,0.053090],[-0.109826,-0.025239,0.993630]]VHsDr`?t'`.?@[ؙ?iV ) @IVA^;VCY-pBy-IbDVD!yeл%eI=ٔeF9iYi=m\FyimH<Eu>Q 5t4h?Q 9t4^ )_BYy@Q I?YCI:it:2t4y ɮ]AIi9i=|ҫ?AJi=ѴARi=ѴAji=$@b=C+Ʌ"̠[/@fj5 "@R=~ )ԇ2?^Q?Zi=@bi=BҾj=T\G$K 34^I})$@Z=X !3t?2i=:i="i=֍?*i=پBi=}Bi9i=پi=!Bi=ǡAi=a@ addTargetRange:: Added new target pos. range: 22.700001 m, deltaT: 0.503919 s, deltaX: 0.200001 m, approachRate: 0.396891 m/s, rangeRepo size: 4  Added new target pos. range: 22.602520 m, bearing: 267.041822 deg, lat: 36.779397 deg, lon: -121.859548 deg, deltaT: 0.503919 s, deltaX: 0.199068 m, approachRate: 0.395040 m/s, posRepo size: 4 DNOT Ignoring new targets: 22.60 m.hh*h"h hgfffd d jd @36@Zd je?EU  EUEU*EQ"EUD;*EU:VEU(N4ZEQBEUњ,cȲ?A@Y pBy II<);bDVDJy-%-`=ٔ5Q-5>91Y1==\Fy9EEE>IQ 5Mt4Md?Q 9Ut4M)M_BYQyQQ IU?MYCIMW:iM^;M?t4yaɮe ]AaDNOT Ignoring new targets: 22.60 m.hh*h"h hgfffddjdZd ?߹߽4=DDAT read: Rx Time:04:02:17.8332 TRx dataTimestamp_ set to:1761537739.189006PDAT read: Bearing 68.4, 49.2 (Local) ~Local bearing/azimuth received: Bearing 68.4, 49.2 (Local) DAT read: Range 11 to 50 : 22.5 m (trip time 15.0 ms) speed 0.0  DAT read: 04:02:17.8332 LVL= 13280, 15153, 22818, 26531, AGC= 47, IDX= 503, 0.21, 1.790, 2.118, 0.399, 2.035, PHS=-0.142, 0.128,-1.679, RAW= 22.0, 19.5, CAL= 20.4, 23.3, ROT= 129.6, -23.3 Ygot valid direction response: 04:02:17.8332 LVL= 13280, 15153, 22818, 26531, AGC= 47, IDX= 503, 0.21, 1.790, 2.118, 0.399, 2.035, PHS=-0.142, 0.128,-1.679, RAW= 22.0, 19.5, CAL= 20.4, 23.3, ROT= 129.6, -23.3 T#Rx 75: Read range and direction messages.^direction in FSK: [-0.585440,0.707675,0.395545]%Fpublishing direction and range infoy"[y⿽-F?EFTP?YA31;"Y g)/Ishio>yֿ >@>K> 5>)@I5оdGsxjb? ڿ)srI@i5о=checking for new query: numPingsReceived=75, elapsed TxPingTime=37.091068ZIZIZIZIa)a eчie9)imHiiiiqqqIqIyԩ)@) @)@-/@)Em EmEm,Ei"Em9;*EmI:VEmg4ZEia@a@a@a@^AmIyIO>u checking for new query: numPingsReceived=75, elapsed TxPingTime=37.326878 6*,>ⲻ?A6 @6@6;=ٱ6& >AHRS rotation from veh to nav: [[-0.755928,-0.645525,-0.108952],[0.643630,-0.763247,0.056513],[-0.119638,-0.027405,0.992439]]6H 0#`A仿?l@K? ?i6 @I61^;6CY^pBybIliUMb@Mb@Mb@QQQQ Q9Ux&1?{Gzt?MbYUA>yUף;UULAUZBA U9Y=\Fy<E>Q 5t4^?Q 9t4)_BYA>Q E;y@Q I?(YCI7_;i];Mt4yɮ\Aii̲?AJi:ARi:AjiI@bXN;*`!@AiY@ addTargetRange:: Added new target pos. range: 22.500000 m, deltaT: 0.504284 s, deltaX: -0.200001 m, approachRate: -0.396603 m/s, rangeRepo size: 4  Added new target pos. range: 22.403379 m, bearing: 266.330843 deg, lat: 36.779397 deg, lon: -121.859548 deg, deltaT: 0.504284 s, deltaX: -0.199141 m, approachRate: -0.394898 m/s, posRepo size: 4 DNOT Ignoring new targets: 22.40 m.hh*h"h hgfffƀBddjd6@Zd? ZA>DDAT read: Rx Time:04:02:18.3333 TRx dataTimestamp_ set to:1761537739.693781PDAT read: Bearing 68.1, 50.1 (Local) ~Local bearing/azimuth received: Bearing 68.1, 50.1 (Local)  DAT read: Range 11 to 50 : 22.8 m (trip time 15.2 ms) speed 0.0 =DAT read: 04:02:18.3333 LVL= 13296, 13969, 21810, 26403, AGC= 46, IDX= 505,-0.44, 1.499, 1.789, 0.093, 1.723, PHS=-0.121, 0.112,-1.673, RAW= 23.1, 19.5, CAL= 21.3, 23.1, ROT= 128.7, -23.1 UYgot valid direction response: 04:02:18.3333 LVL= 13296, 13969, 21810, 26403, AGC= 46, IDX= 505,-0.44, 1.499, 1.789, 0.093, 1.723, PHS=-0.121, 0.112,-1.673, RAW= 23.1, 19.5, CAL= 21.3, 23.1, ROT= 128.7, -23.1 ]T#Rx 76: Read range and direction messages.e^direction in FSK: [-0.575112,0.717857,0.392337]mFpublishing direction and range infoy uPg8?f( ?YfA362U #g).IiB`=$ֿpl>V> pl>)`@IplξqLI[/ 6Y? wؿ) I`@iplξchecking for new query: numPingsReceived=76, elapsed TxPingTime=37.604534ZA>ZQ<Z@;=)  i89)iB>BBIBoBBBBBۃ;B9EiYYaIaIa mmIm)m9Q@Q @Q@Q@QEm  Em Em +Ei "Em 77;*Em g:VEm [4ZEi BEm ,Y?AT54<ɰ5;YZ@O@e=ٱݼ AHRS rotation from veh to nav: [[-0.759407,-0.640805,-0.112563],[0.638616,-0.767235,0.059330],[-0.124382,-0.026829,0.991872]]H@M`y м@o?/`?@x׿xi?iYZ@I]R^;CYpByI@AbDVDN2yr=%;=ٔ39!Y!=%\Fy!%e<E%>)Q 55t4-Y?Q 95t4-r)-_BY9y=@Q I=?-=YCI-n;i-H;-\t4yAɮEy\AIiqiuf첻?AJiuARiuAjiuc@bu* Z,L0@"iS!@Ru uPg8?f( ?Ziu`@biuplξju}`"P4 2: $@ZuBD GC@?2iu:iuÿ"iu5؞?*iuDBiuoBiu֍?iuDiu4BiuAiun@ addTargetRange:: Added new target pos. range: 22.799999 m, deltaT: 0.504775 s, deltaX: 0.299999 m, approachRate: 0.594323 m/s, rangeRepo size: 4  Added new target pos. range: 22.702133 m, bearing: 265.690599 deg, lat: 36.779396 deg, lon: -121.859548 deg, deltaT: 0.504775 s, deltaX: 0.298754 m, approachRate: 0.591855 m/s, posRepo size: 4 DNOT Ignoring new targets: 22.70 m.hh*h"h hgfffddjd6@Zd`?ZZZZ@e=)! %i%l9))-)iIiYYYIYIa9@ @@/@EDDAT read: Rx Time:04:02:18.8333 MTRx dataTimestamp_ set to:1761537740.196833UPDAT read: Bearing 67.4, 51.3 (Local) ]~Local bearing/azimuth received: Bearing 67.4, 51.3 (Local) mDAT read: Range 11 to 50 : 22.7 m (trip time 15.1 ms) speed 0.0 DAT read: 04:02:18.8333 LVL= 13648, 13425, 23106, 25843, AGC= 45, IDX= 504,-0.23,-0.750,-0.510,-2.181,-0.552, PHS=-0.096, 0.086,-1.673, RAW= 24.6, 19.6, CAL= 22.6, 23.1, ROT= 127.4, -23.1 Ygot valid direction response: 04:02:18.8333 LVL= 13648, 13425, 23106, 25843, AGC= 45, IDX= 504,-0.23,-0.750,-0.510,-2.181,-0.552, PHS=-0.096, 0.086,-1.673, RAW= 24.6, 19.6, CAL= 22.6, 23.1, ROT= 127.4, -23.1 T#Rx 77: Read range and direction messages.^direction in FSK: [-0.558677,0.730720,0.392337]Fpublishing direction and range infoyIM%b?f( ?YMAIMP5Mq4MBZ Md)M-IMĽiM =IM>M%>M> I)MN@IIIIMj*˱C?q_$?k? Mտ)MIMN@iIIIchecking for new query: numPingsReceived=77, elapsed TxPingTime=38.099091^A FӅI ) I) O= >~, ?AbE5|a4jE5]4rE50EV EVEV)ET"EVO;*EV:VEVFA4ZETan@an@ar@ar@}@}@}F>ٱ}ۼ AHRS rotation from veh to nav: [[-0.763189,-0.635637,-0.116230],[0.633206,-0.771530,0.061578],[-0.128816,-0.026602,0.991312]]}H` l"WC8C?_`%?@ }=Ӹ?i}@I}I^;yYpBy*I Ai5Mb@Mb@Mb@1111 195|?5^?MbP{Gz?Y5R>y55#<5NA5+CA 5t=A)5VA1Y5pIAbDEVDE:yUծ=%]G=ٔ]29aYa=e\Fyae<Ee>iQ 5ut4mT?Q 9}t4m)m_BY}1S>Q E};y}@Q I}?mSYCIm:imn:mMkt4yɮ[Achecking for new query: numPingsReceived=77, elapsed TxPingTime=38.338840ii ?AJiҴARiҴAjiΓ@b`[@MA)3q!0@HS!@R%b?f( ?ZiN@bij ~Ds YE14=5 #@IZP/mG]6}rF}@?2i:i%"i'?*iL$BikBiK?i~ikBiҢAi@ addTargetRange:: Added new target pos. range: 22.700001 m, deltaT: 0.503052 s, deltaX: -0.099998 m, approachRate: -0.198784 m/s, rangeRepo size: 4  Added new target pos. range: 22.602564 m, bearing: 264.647749 deg, lat: 36.779392 deg, lon: -121.859547 deg, deltaT: 0.503052 s, deltaX: -0.099569 m, approachRate: -0.197930 m/s, posRepo size: 4 DNOT Ignoring new targets: 22.60 m.hh*h"h hg f f f  Bddjd@36@Zd?ZU1S>ZU1S>ZU@ZUQ@F>) Gi9)額϶iiII=9@9 @9@=/@Aqm DDAT read: Rx Time:04:02:19.3333 u TRx dataTimestamp_ set to:1761537740.701443} PDAT read: Bearing 66.6, 52.7 (Local)  ~Local bearing/azimuth received: Bearing 66.6, 52.7 (Local) ԙ  DAT read: Range 11 to 50 : 22.8 m (trip time 15.2 ms) speed 0.0  DAT read: 04:02:19.3333 LVL= 13680, 14193, 22322, 26547, AGC= 47, IDX= 505,-0.23, 1.603, 1.784, 0.120, 1.767, PHS=-0.062, 0.063,-1.690, RAW= 26.3, 19.4, CAL= 24.2, 22.9, ROT= 125.8, -22.9  Ygot valid direction response: 04:02:19.3333 LVL= 13680, 14193, 22322, 26547, AGC= 47, IDX= 505,-0.23, 1.603, 1.784, 0.120, 1.767, PHS=-0.062, 0.063,-1.690, RAW= 26.3, 19.4, CAL= 24.2, 22.9, ROT= 125.8, -22.9  T#Rx 78: Read range and direction messages. ^direction in FSK: [-0.538855,0.747140,0.389124] Fpublishing direction and range infoyi m bK>ῂyJ?i+h?Ym fAi m p5m q7m 2W m g)m /Im }im %=m Qؿm >m -\>m @> m >)m  @Im ̾i i m whۮ[/6u2G? m U?ѿ)m dIm  @Bu >Bq Bu IBu pBBq Bq Bu DBu ΃;Bu 9Eim ̾i i  checking for new query: numPingsReceived=78, elapsed TxPingTime=38.634670^A I I O >9,'0?AR.@Rz$@RF>ٱR ܼ ^AHRS rotation from veh to nav: [[-0.766758,-0.630641,-0.119888],[0.628003,-0.775618,0.063475],[-0.133017,-0.026620,0.990756]]RHH6.?`??0B`F?iR.@IRŕ^;RCY qBy 9IbD]VD]:ymF=%m[=ٔm0:9qYqy=\Fy<E>Q 5t4 O?Q 9t4)_BYy@Q I?fYCI:i:{xt4yBɮt[AEiiq,?AJiARiAjia@bdbw(8 120@8)!@RbK>ῂyJ?i+h?Zi @bi̾j.) }i|9)lﶉiiIIԡ@ @@M1@checking for new query: numPingsReceived=78, elapsed TxPingTime=38.841454^Ae #Iq I O > ,>J?A2@2@2 >ٱ2cݼ :AHRS rotation from veh to nav: [[-0.770627,-0.625219,-0.123431],[0.622411,-0.779990,0.064957],[-0.136887,-0.026767,0.990225]]2H@'? ?h`?i2@I2h^;2CYB)qByBOIbDJVDJ:2yR:=%VX=ٔV(9TYX=Z\FyXZ<EZ>\Q 5bt4^J?Q 9bt4^t)^_BYdyfZ@Q If?^zYCI^:i^:^t4yhɮjZAl-DDAT read: Rx Time:04:02:19.8333 -TRx dataTimestamp_ set to:1761537741.2047175PDAT read: Bearing 66.0, 54.0 (Local) =~Local bearing/azimuth received: Bearing 66.0, 54.0 (Local) MDAT read: Range 11 to 50 : 22.7 m (trip time 15.1 ms) speed 0.0 uDAT read: 04:02:19.8333 LVL= 15792, 16689, 24978, 27555, AGC= 49, IDX= 504,-0.20, 1.257, 1.388,-0.268, 1.390, PHS=-0.031, 0.043,-1.702, RAW= 27.9, 19.3, CAL= 25.5, 22.6, ROT= 124.5, -22.6 }Ygot valid direction response: 04:02:19.8333 LVL= 15792, 16689, 24978, 27555, AGC= 49, IDX= 504,-0.20, 1.257, 1.388,-0.268, 1.390, PHS=-0.031, 0.043,-1.702, RAW= 27.9, 19.3, CAL= 25.5, 22.6, ROT= 124.5, -22.6 }T#Rx 79: Read range and direction messages.^direction in FSK: [-0.522912,0.760842,0.384295]Fpublishing direction and range infoy)-/%࿾+EX?cK?Y-A)-=-1A-a -k)-1I-i- 0=-#ٿ-Q>-iw>-> ->)-^ @I-ɾ))-1L1/:FX? -Ϳ)-/I-^ @i-ɾ))checking for new query: numPingsReceived=79, elapsed TxPingTime=39.111687% addTargetRange:: Added new target pos. range: 22.700001 m, deltaT: 0.503274 s, deltaX: -0.099998 m, approachRate: -0.198696 m/s, rangeRepo size: 4 %DNOT Ignoring new targets: 22.70 m.h!h!*h)"h) h)g)f)f1f1dQdQjd]@36@Zd]?ZZZZgZ@ >) iiM9)NiiII@ @@4@ E EE)E"Ea?;*E:VEFA4ZEa@a@a @a @1^Au?΅IyIO>iIADDAT read: Rx Time:04:02:20.3333  TRx dataTimestamp_ set to:1761537741.460674 checking for new query: numPingsReceived=79, elapsed TxPingTime=39.350567Y (,&d?AN@N @N[@>ٱNChݼ fAHRS rotation from veh to nav: [[-0.774782,-0.619412,-0.126657],[0.616441,-0.784610,0.066238],[-0.140405,-0.026756,0.989733]]NH@8K6`??e?iN@INfA^;NCYGqByaII%=)%yף<=PA ;A)fXAYIAbDVDy=%9=ٔh9Y=\Fy<E>Q 5t44C?Q 9t4O)_BY>Q EL;y@Q I?YCIT ;iz ; t4yɮrZA iYi]M?AJi]ҴARi]ҴA9PExceeded connect timeout, disconnecting.ji]s@b]j'1"in21@MU4E_!@R]/%࿾+EX?cK?Zi]^ @bi]ɾj]0YK44؈&#@Z]h{Hcn&-r쿌?2i]:i]&"i]󋑉h?*i]VBi];Bi]'?i]L$i]^Bi]Ai]?%@DNOT Ignoring new targets: 22.70 m.hh*h"h hgfffGBddjdZdI?ZE>ZE>ZEw8@ZE[@[@>) =i,9)顅$iiII=PDAT read: Bearing 66.1, 54.8 (Local) E~Local bearing/azimuth received: Bearing 66.1, 54.8 (Local) ]DAT read: Range 11 to 50 : 22.7 m (trip time 15.1 ms) speed 0.0 DAT read: 04:02:20.3333 LVL= 16832, 16369, 25042, 28195, AGC= 47, IDX= 504,-0.05, 0.343, 0.450,-1.182, 0.456, PHS=-0.012, 0.038,-1.682, RAW= 28.5, 19.0, CAL= 26.1, 22.3, ROT= 123.9, -22.3 Ygot valid direction response: 04:02:20.3333 LVL= 16832, 16369, 25042, 28195, AGC= 47, IDX= 504,-0.05, 0.343, 0.450,-1.182, 0.456, PHS=-0.012, 0.038,-1.682, RAW= 28.5, 19.0, CAL= 26.1, 22.3, ROT= 123.9, -22.3 T#Rx 80: Read range and direction messages.^direction in FSK: [-0.516031,0.767935,0.379456]Fpublishing direction and range infoy15S}U?NkI?Y115A5?5a 5#n)5/I5Di5=5K׿5>5ɩ>5Z;> 5SF>)5e @I5SFǾ115妜ܴ<_? 5T̿)5;I5e @i5SFǾ11B!B!B%IB%BpBB!B!B!B%ۃ;B%9E9@9 @9@EG1@Aimchecking for new query: numPingsReceived=80, elapsed TxPingTime=39.625542ԙ^AM #IQ Ii Ou >E  E E *E "E <;*E :VE (N4ZE BE Óٱټ AHRS rotation from veh to nav: [[-0.778931,-0.613617,-0.129389],[0.610430,-0.789168,0.067734],[-0.143672,-0.026223,0.989278]]Hҏ?@W?c¿9ښ)?i@IO^;CYpqByzIbDVD1y<=%I=ٔ9Y=\FyZ<E>Q 5t4) i9)2+iiII!ԹGmPDAT read: Bearing 66.1, 55.8 (Local) m~Local bearing/azimuth received: Bearing 66.1, 55.8 (Local) DAT read: Range 11 to 50 : 22.5 m (trip time 15.0 ms) speed 0.0 DAT read: 04:02:20.8332 LVL= 14928, 13633, 22562, 26099, AGC= 47, IDX= 503, 0.14,-0.055, 0.018,-1.610, 0.031, PHS= 0.016, 0.032,-1.685, RAW= 29.5, 18.7, CAL= 27.0, 21.8, ROT= 123.0, -21.8 Ygot valid direction response: 04:02:20.8332 LVL= 14928, 13633, 22562, 26099, AGC= 47, IDX= 503, 0.14,-0.055, 0.018,-1.610, 0.031, PHS= 0.016, 0.032,-1.685, RAW= 29.5, 18.7, CAL= 27.0, 21.8, ROT= 123.0, -21.8 T#Rx 81: Read range and direction messages.^direction in FSK: [-0.505690,0.778694,0.371368]Fpublishing direction and range infoyIM] .W$?% ~}?YMAIMP:MA5M"X Me)IIMoM:F> M>)Mod @IM¾IIMGthVN t,;? Mʿ)MS.IMod @iM¾IIchecking for new query: numPingsReceived=81, elapsed TxPingTime=40.1223799A/9YA 9@  @ @ 4@ @ =@ = E  E E ,E "E =;*E j:VE g4ZE a @a @a @a @^A FӅII)O=>4,D?AfDDAT read: Rx Time:04:02:21.3333 nTRx dataTimestamp_ set to:1761537742.468159zPDAT read: Bearing 66.3, 56.5 (Local) z~Local bearing/azimuth received: Bearing 66.3, 56.5 (Local) checking for new query: numPingsReceived=81, elapsed TxPingTime=40.3612105@5%@5>ٱ5޼ mAHRS rotation from veh to nav: [[-0.788388,-0.600189,-0.134976],[0.596918,-0.799407,0.068102],[-0.148775,-0.026879,0.988506]]5Hx:4F?o?  ÿH֡?i5@I5R^;5CYqByIa@a a@a a@a a@a bDVDβy-Ň=9%5=ٔEw9IYI=U\FyQ]|<E]>aQ 5ut4eV4?Q 9}t4e)e_BQ A}+:YyQ E}%;y} @Q I?eYCIeZ;iex ?et4yɮ CK0\$4kr"@ZH)MjeJQ4A?2i":iZ*"iG T?*i# BiBih?iVi;Bi%Ai@ addTargetRange:: Added new target pos. range: 22.500000 m, deltaT: 0.505888 s, deltaX: -0.200001 m, approachRate: -0.395346 m/s, rangeRepo size: 4 % Added new target pos. range: 22.403494 m, bearing: 262.472039 deg, lat: 36.779378 deg, lon: -121.859544 deg, deltaT: 0.505888 s, deltaX: -0.199142 m, approachRate: -0.393649 m/s, posRepo size: 4 -DNOT Ignoring new targets: 22.40 m.h)h)*h)"h) h)g1f1f1f1d9d9jd=6@Zd=??e>)i ҇i9)/?iiIInManaging dock network, ignoring radio surface power offҟ9a]9@Y @a@e4@aDAT read: Range 11 to 50 : 22.7 m (trip time 15.1 ms) speed -0.1 DAT read: 04:02:21.3333 LVL= 13648, 13969, 23730, 27459, AGC= 49, IDX= 504, 0.45, 1.490, 1.547,-0.071, 1.561, PHS= 0.031, 0.031,-1.676, RAW= 30.0, 18.5, CAL= 27.4, 21.5, ROT= 122.6, -21.5 Ygot valid direction response: 04:02:21.3333 LVL= 13648, 13969, 23730, 27459, AGC= 49, IDX= 504, 0.45, 1.490, 1.547,-0.071, 1.561, PHS= 0.031, 0.031,-1.676, RAW= 30.0, 18.5, CAL= 27.4, 21.5, ROT= 122.6, -21.5 T#Rx 82: Read range and direction messages.^direction in FSK: [-0.501282,0.783833,0.366501]BBBIBpBBBBB;B9EBBBBȮ =BȮ =Cȯ4= Fpublishing direction and range infoy O>'?ѨCt?YAP56\ Ck)1IG> 7 >) @I7 x`Y`xJ? ɿ)u-I @i7 U checking for new query: numPingsReceived=82, elapsed TxPingTime=40.633953ԑ ^A g煾I I O >,7?A25@2+ @2>ٱ2ʠݼ :AHRS rotation from veh to nav: [[-0.793577,-0.592848,-0.136989],[0.589534,-0.804870,0.068068],[-0.150612,-0.026742,0.988231]]2Hd؈@w? l?AGÿWb?i25@I2;^;2CYBqByBI DFAbDNVDNyV=%V=ٔV;Q-Z?9XYX=Z\FyX^a<E^?`Q 5ft4b/?Q 9ft4bb)b_BQ Af :YdQ Ej;yj@Q Ij?bYCIb:ibiX?bt4ynBɮnXAnE|iYi]i:?AJi]ҴARi]ҴAji]@b]&FDy1@E[ @R] O>'?ѨCt?Zi] @bi]7 j]0]Q,18`4:s"@Z].0Ҁ3@i?2i]:i]b)"i]P?*i]{OBi]BEE EEEE-EA"EE9;*EE:VEEt4ZEABEEj) i$9)顭NiiIIiߩIߩDDAT read: Rx Time:04:02:21.8333 TRx dataTimestamp_ set to:1761537742.983456PDAT read: Bearing 65.7, 56.8 (Local) ~Local bearing/azimuth received: Bearing 65.7, 56.8 (Local) DAT read: Range 11 to 50 : 22.7 m (trip time 15.1 ms) speed -0.1 )EZ#Rx 83: Read range message, but no direction.yY]checking for new query: numPingsReceived=83, elapsed TxPingTime=40.887962=9@9 @9@=/@AY^Ae Ii ԁ I O > DAT read: 04:02:21.8333 LVL= 15712, 16065, 25074, 27731, AGC= 51, IDX= 504,-0.05,-0.104,-0.070,-1.671,-0.036, PHS= 0.035, 0.012,-1.679, RAW= 30.7, 18.7, CAL= 28.0, 21.8, ROT= 122.0, -21.8  Ygot valid direction response: 04:02:21.8333 LVL= 15712, 16065, 25074, 27731, AGC= 51, IDX= 504,-0.05,-0.104,-0.070,-1.671,-0.036, PHS= 0.035, 0.012,-1.679, RAW= 30.7, 18.7, CAL= 28.0, 21.8, ROT= 122.0, -21.8  Z#Rx 84: Read direction message, but no range. ^direction in FSK: [-0.492023,0.787401,0.371368]yY ] d2fL}߿`b2?% ~}?Y ] `=] >] a ] Sl)] 3I] )\=i] D<] yֿ] >+ ?] >] 5> ] >)] {F@I] ¾Y ] @3 ?KX N? ] ǿ)] JI] {F@i] ¾ checking for new query: numPingsReceived=84, elapsed TxPingTime=41.128368O, г?AVO@V @V\>ٱVjۼ bAHRS rotation from veh to nav: [[-0.798324,-0.586034,-0.138717],[0.582667,-0.809854,0.068089],[-0.152243,-0.026469,0.987989]]VHߋ `y5?RHn?|ÿ `?iVO@IVg`^;VCYEqByMIYbD}VD}1y`=%==ٔy;Q->9Y=\Fy=<E>Q 5t4(?Q 9t4\)_BQ A9YQ E:y*@Q I?ZCI:i?t4yɮjXAii𾳻?AJiRijis@b=&)q1@Ak @Rd2fL}߿`b2?% ~}?Zi{F@bi¾jZezJQR4P9#@Zg &þy}@쿰}7?2i:i-"i1@C?*ig BiBiG T?i{OiBiۤAiޒ@ addTargetRange:: Added new target pos. range: 22.700001 m, deltaT: 0.261141 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 22.602652 m, bearing: 262.387317 deg, lat: 36.779376 deg, lon: -121.859543 deg, deltaT: 0.261141 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 22.60 m.hh*h"h hgfffddjdZd Q?E\>)A EPiE9)AE_AiIiIQQIQIQaEe  EeEe+Ea"EeC;*Ee:ԉVEe [4ZEaa@a@a@a@q@y @y@@@@DDAT read: Rx Time:04:02:22.3334 TRx dataTimestamp_ set to:1761537743.489176 PDAT read: Bearing 65.5, 57.1 (Local) ~Local bearing/azimuth received: Bearing 65.5, 57.1 (Local) 5DAT read: Range 11 to 50 : 23.0 m (trip time 15.3 ms) speed -0.2 EZ#Rx 85: Read range message, but no direction.yYA]checking for new query: numPingsReceived=85, elapsed TxPingTime=41.390469Ա^A I I O > -,5곻?A:|Z@:P!@:>ٱ:f/ BAHRS rotation from veh to nav: [[-0.803648,-0.578284,-0.140490],[0.575040,-0.815387,0.066880],[-0.153229,-0.027040,0.987821]]:H`{@Nf??ÿR:?i:|Z@I:bM^;:CYJqByJIaa aa aa aa iMb@Mb@Mb@ 9/$?ʡEMb`Y&>yy$RACA ^B3CBIBpBB ==DAT read: 04:02:22.3334 LVL= 15712, 16977, 24994, 27299, AGC= 51, IDX= 506,-0.25, 0.408, 0.429,-1.163, 0.475, PHS= 0.036,-0.001,-1.681, RAW= 31.1, 18.9, CAL= 28.3, 22.0, ROT= 121.7, -22.0 EYgot valid direction response: 04:02:22.3334 LVL= 15712, 16977, 24994, 27299, AGC= 51, IDX= 506,-0.25, 0.408, 0.429,-1.163, 0.475, PHS= 0.036,-0.001,-1.681, RAW= 31.1, 18.9, CAL= 28.3, 22.0, ROT= 121.7, -22.0 EZ#Rx 86: Read direction message, but no range.M^direction in FSK: [-0.487209,0.788858,0.374607]y`m.߿2S>??QBa j)It=io+׿ ?[>'>  >)@I ľCT-E?B DRĪ? ƿ)aI@i ľmchecking for new query: numPingsReceived=86, elapsed TxPingTime=41.632648BBB;B:EbDVDyK=%8=ٔ;Q->9Y=\Fy<E>Q 5t4 ?Q 9t4)m_BQ AT:Y >Q E ;y 8 @Q I ?0ZCI;i;$t4yɮXAiiN߳?AJi6ARi6Aji@bM-P&92@mw(!@R`m.߿2S>??Zi@bi ľj2M*|i4o99d#@Z,,,T~*C,{Ow?2i:i+"ip>?*iz@BiRBiP?iz@iiĥAi@ addTargetRange:: Added new target pos. range: 23.000000 m, deltaT: 0.505720 s, deltaX: 0.299999 m, approachRate: 0.593212 m/s, rangeRepo size: 4  Added new target pos. range: 22.901461 m, bearing: 262.562660 deg, lat: 36.779375 deg, lon: -121.859543 deg, deltaT: 0.505720 s, deltaX: 0.298809 m, approachRate: 0.590859 m/s, posRepo size: 4 DNOT Ignoring new targets: 22.90 m.hh*h"h hgf)f)f-ʁBd1d1jd57@Zd5n.?Zu>Zu>Zu@Zu8 @>) i9)顭riiII!=9@9 @9@E/@AE] E]E],EY"E]B;*E]:VE]g4ZEYBE]we DAT read: 04:02:22.8334 LVL= 16608, 17185, 24242, 26691, AGC= 51, IDX= 506,-0.41,-1.280,-1.267,-2.852,-1.223, PHS= 0.045, 0.001,-1.673, RAW= 31.3, 18.7, CAL= 28.5, 21.8, ROT= 121.5, -21.8 m Ygot valid direction response: 04:02:22.8334 LVL= 16608, 17185, 24242, 26691, AGC= 51, IDX= 506,-0.41,-1.280,-1.267,-2.852,-1.223, PHS= 0.045, 0.001,-1.673, RAW= 31.3, 18.7, CAL= 28.5, 21.8, ROT= 121.5, -21.8 m T#Rx 87: Read range and direction messages.u ^direction in FSK: [-0.485132,0.791664,0.371368]u Fpublishing direction and range infoy  9^h ߿PU?% ~}?y Y @ !C ^ Ch) I Q8=i o: $ֿ ? > > >) @I ¾ @hȕ?g; +LBO? /ƿ) aI @i ¾ E checking for new query: numPingsReceived=87, elapsed TxPingTime=41.955227n,g?An@n!@n>ٱno޼ AHRS rotation from veh to nav: [[-0.808967,-0.570577,-0.141475],[0.567386,-0.820804,0.065984],[-0.153772,-0.026892,0.987740]]nH *B ¿ (?DU?ͮÿ?in@In>^;lY-qBy-II<);bD VD2IyU]=%UQ=ٔU:Q-U>9YYY=]\FyYe<Ee>iQ 5t4m?Q 9t4m)mX_BYy @Q I?mTZCImC%#@Z%3B*K55W%cȍU?2i%:i%#"i%/B?*i%lBi%7Bi%1@C?i%li!i%=Ai%ߒ@ addTargetRange:: Added new target pos. range: 23.000000 m, deltaT: 0.504171 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 22.901461 m, bearing: 262.923905 deg, lat: 36.779374 deg, lon: -121.859543 deg, deltaT: 0.504171 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 22.90 m.hh*h"h hg f f f ddjdZd$?ZQZQZQZU @>) iV9)額FiiII-checking for new query: numPingsReceived=87, elapsed TxPingTime=42.127293yU9@Q @Q@]0@Yԡ^A9 Eu  Eu Eu +Eq "Eu L;*Eu :VEu [4ZEq a @a @a @a @I I O- > gC,v?AiDIDRDDAT read: Rx Time:04:02:23.3335 ZTRx dataTimestamp_ set to:1761537744.497371jPDAT read: Bearing 66.2, 57.8 (Local) n~Local bearing/azimuth received: Bearing 66.2, 57.8 (Local)  DAT read: Range 11 to 50 : 23.1 m (trip time 15.4 ms) speed -0.3 Z#Rx 88: Read range message, but no direction.yTYV̸AT%checking for new query: numPingsReceived=88, elapsed TxPingTime=42.399399ԩYMqByMIiuMb@Mb@Mb@qqqq q9ugfffff?/$ÿ{GzYu3>yuuףquEA q)u]AqYu(LAbDVDܲyғ<%+=ٔQ->9Y=\FyE>Q 5t4 ?Q 9t4)6_BY>Q E ;y@Q I?ZCI ;iT ;`t4yߓBɮWAE] addTargetRange:: Added new target pos. range: 23.100000 m, deltaT: 0.504024 s, deltaX: 0.100000 m, approachRate: 0.198404 m/s, rangeRepo size: 4 eDNOT Ignoring new targets: 22.90 m.haha*ha"ha hagafififmBdidqjdu7@Zdu@?Z>Z>Z߻@Z@!)! %i-P9))-ꋷ)i)i1yyIyI I)B>B2CB>IB qBB =BBB؃;B9E]DAT read: 04:02:23.3335 LVL= 13552, 14769, 23026, 27171, AGC= 50, IDX= 507,-0.36,-2.669,-2.669, 2.042,-2.617, PHS= 0.050,-0.007,-1.668, RAW= 31.7, 18.8, CAL= 28.8, 21.8, ROT= 121.2, -21.8 Ygot valid direction response: 04:02:23.3335 LVL= 13552, 14769, 23026, 27171, AGC= 50, IDX= 507,-0.36,-2.669,-2.669, 2.042,-2.617, PHS= 0.050,-0.007,-1.668, RAW= 31.7, 18.8, CAL= 28.8, 21.8, ROT= 121.2, -21.8 Z#Rx 89: Read direction message, but no range.^direction in FSK: [-0.480981,0.794194,0.371368]y15%gc޿ %j?% ~}?154595Y 5#j)52I5L=i5B`廉5տ5 ? ! @)  @) @- /@) 5>5? 1)5a@I115oP?bHV*И? 5Rſ)5§I5a@i1 checking for new query: numPingsReceived=89, elapsed TxPingTime=42.6755981 ^AM ?΅IQ Eu  Eu Eu (Eq "Eu [I;*Eu :VEu c44ZEq BEu ,;?A24 @2#@2h>ٱ2]Ѽ :AHRS rotation from veh to nav: [[-0.819153,-0.555717,-0.142013],[0.552493,-0.830987,0.064901],[-0.154078,-0.025298,0.987735]]2H6n}-¿?`qU?иÿ 癿 ?i24 @I29^;2CYBqByBIHJAAbDJVDJk1yR;u%V=ٔVl:Q-V ?9TYX=Z\FyXZk=EZ ?\Q 5bt4^ ?Q 9bt4^9)^ _BYdyf/@Q If?^ZCI^:i^:^xt4ynݓBɮrWArEeDDAT read: Rx Time:04:02:23.8335 mTRx dataTimestamp_ set to:1761537745.001139PDAT read: Bearing 66.4, 58.1 (Local) ~Local bearing/azimuth received: Bearing 66.4, 58.1 (Local) DAT read: Range 11 to 50 : 23.1 m (trip time 15.4 ms) speed -0.3 Z#Rx 90: Read range message, but no direction.yaYaachecking for new query: numPingsReceived=90, elapsed TxPingTime=42.900646 addTargetRange:: Added new target pos. range: 23.100000 m, deltaT: 0.503768 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 22.90 m.hh*h"h hgfffddjd Zd`{?ZQZQZQZU8/@eh>)a eߎieA9)imgiiiiIIm9@i @i@u4@q^A #I I O >5 DAT read: 04:02:23.8335 LVL= 15792, 14097, 26258, 29363, AGC= 48, IDX= 507,-0.15, 0.855, 0.847,-0.719, 0.904, PHS= 0.054,-0.011,-1.667, RAW= 31.9, 18.8, CAL= 29.1, 21.8, ROT= 120.9, -21.8 = Ygot valid direction response: 04:02:23.8335 LVL= 15792, 14097, 26258, 29363, AGC= 48, IDX= 507,-0.15, 0.855, 0.847,-0.719, 0.904, PHS= 0.054,-0.011,-1.667, RAW= 31.9, 18.8, CAL= 29.1, 21.8, ROT= 120.9, -21.8 = Z#Rx 91: Read direction message, but no range.E ^direction in FSK: [-0.476816,0.796701,0.371368]y  Co֋&޿wD~?% ~}? = 7 f r) 0I /]=i X94 B`տ Ӈ? "? ) @I gL'? &G5? Ŀ) ƼI @i ] checking for new query: numPingsReceived=91, elapsed TxPingTime=43.149395A 3,(T?A6@6_#@6$>ٱ6pͼ >AHRS rotation from veh to nav: [[-0.824072,-0.548394,-0.142022],[0.545224,-0.835853,0.063883],[-0.153742,-0.024789,0.987800]]6H`^`q-¿yr? NZ?խÿ@Mb?i6@I6U^;6CY^qBy^I ``bDjVDj02yr<%rF=ٔrWQ-v>9tYt=v\Fytz<Ez>|Q 5u4~?Q 9u4~)~_BYy @Q I ?~ZCI~L:i~:~u4yɮVAii@?AJiARiAjia@b@z5%.#*S2@8g!@RCo֋&޿wD~?% ~}?Zi @bij̦n34S:sV#@Z¸q xC?2i:i_"i9RBJ?*iiǖBiTBiii7BiAiM@]DNOT Ignoring new targets: 22.90 m.hYha*ha"ha hagafafifididijdiZdu3?ZZZZK@$>) i9)顭ÜiiIIbEu [4jEuwX4rEu/E EE,E"E;;*Eu:VEg4ZEa%@a-@a-@a-@u9@y @y@}/@uDDAT read: Rx Time:04:02:24.3337 TRx dataTimestamp_ set to:1761537745.506427PDAT read: Bearing 67.5, 58.5 (Local) ~Local bearing/azimuth received: Bearing 67.5, 58.5 (Local) DAT read: Range 11 to 50 : 23.4 m (trip time 15.6 ms) speed -0.4 Z#Rx 92: Read range message, but no direction.yyY}3Aychecking for new query: numPingsReceived=92, elapsed TxPingTime=43.403248^AIIO> (,n?AA A"@AB$B$B&DIB&qBB$B$B$B&Ń;B&9EBu=@B3$@B>ٱB\ϼ JAHRS rotation from veh to nav: [[-0.828748,-0.541224,-0.142314],[0.538214,-0.840506,0.062244],[-0.153304,-0.025011,0.987862]]BHQ[7¿ 9?mzޯ?@yÿo?iBu=@IB<^;BCbDAT read: 04:02:24.3337 LVL= 15696, 15057, 25842, 29091, AGC= 47, IDX= 509, 0.04, 2.383, 2.374, 0.805, 2.420, PHS= 0.065,-0.000,-1.658, RAW= 31.9, 18.4, CAL= 29.1, 21.3, ROT= 120.9, -21.3 fYgot valid direction response: 04:02:24.3337 LVL= 15696, 15057, 25842, 29091, AGC= 47, IDX= 509, 0.04, 2.383, 2.374, 0.805, 2.420, PHS= 0.065,-0.000,-1.658, RAW= 31.9, 18.4, CAL= 29.1, 21.3, ROT= 120.9, -21.3 fZ#Rx 93: Read direction message, but no range.j^direction in FSK: [-0.478462,0.799452,0.363251]yPRI޿?X?+=??PRP=R:Rd Rq)R/IR=iRRX9ԿPRl>P RV>)PIRVPRcq*?Aj"#Xӹn8? RĿ)RIPiRVvchecking for new query: numPingsReceived=93, elapsed TxPingTime=43.648178Y=qBy=IiMb@Mb@Mb@ 9tV?ktƿY>y 0LRA;GA C;A)/_AYLAbDVD:y%p%-+=ٔ-sQ-M>9QYQ=U\FyQUȐ<E]>YQ 5eu4] ?Q 9mu4])]^BYm>Q E;y@Q I?]ZCI]!;i];]u4yɮlWAiiMi`?AJieARieAji@b}LK&P}2@*^ @RI޿?X?+=??ZibiVjM*`n̴!5E5#@Z}qa?2i:i"i Q?*i]Bi%Bii]iiAiu@M addTargetRange:: Added new target pos. range: 23.400000 m, deltaT: 0.505288 s, deltaX: 0.299999 m, approachRate: 0.593719 m/s, rangeRepo size: 4 ] Added new target pos. range: 23.299610 m, bearing: 264.466571 deg, lat: 36.779374 deg, lon: -121.859542 deg, deltaT: 1.513080 s, deltaX: 0.398149 m, approachRate: 0.263138 m/s, posRepo size: 4 ]DNOT Ignoring new targets: 23.30 m.hYhY*hY"hY hYgafaffBddjd`ff7@Zd ?Z>Z>Zh@Z@>)  Qi 9)   i iIIE EEE"EB;*E1:VEZEBEw}? }7 >)}@I}7 yy}RQ?LPiZ? }p(Ŀ)}I}@i}7 yy% checking for new query: numPingsReceived=94, elapsed TxPingTime=43.917465I ^A% FӅI1 II OU >",?AB9@Bڻ$@B>ٱBؼ JAHRS rotation from veh to nav: [[-0.833299,-0.534044,-0.142862],[0.531333,-0.845053,0.059751],[-0.152636,-0.026117,0.987937]]BHc QI¿ ? @?ÿ`.?iB9@IB ^^;BCYRqByRIbDZVDZfyr޽%rx=ٔvIQ-v?9tYx=z\Fyxz<Ez ?Q 5%u4?Q 9%u4)^BY)y-j@Q I-?[CI:i:A%u4y1ɮ5WA9ii;?AJiRijiٓ@b"&궋2@M#!@R_rf޿ƙ?ѨCt?Zi@bi7 jyx:\6NT5(>aG#@ZRŅ0r}$Ky?2i:i"i7T?*iKIV Bi$Bi9RBJ?iiiAi쯓@ addTargetRange:: Added new target pos. range: 23.400000 m, deltaT: 0.502315 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 - Added new target pos. range: 23.299610 m, bearing: 264.720361 deg, lat: 36.779374 deg, lon: -121.859542 deg, deltaT: 0.502315 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 5DNOT Ignoring new targets: 23.30 m.h1hA*hA"hA hAgIfIfIfIdQdjdZd?ZZZZj@>) wi9)iiIIQchecking for new query: numPingsReceived=94, elapsed TxPingTime=44.1438269@ @@/@y^AE  E E E "E Q;*E :VE ZE a% @a% @a% @a% @Iy Ա I O >} DDAT read: Rx Time:04:02:25.3340 } TRx dataTimestamp_ set to:1761537746.511032 PDAT read: Bearing 63.7, 58.9 (Local)  ~Local bearing/azimuth received: Bearing 63.7, 58.9 (Local)  DAT read: Range 11 to 50 : 23.9 m (trip time 15.9 ms) speed -0.3  DAT read: 04:02:25.3340 LVL= 15552, 13729, 25106, 29747, AGC= 47, IDX= 512,-0.44,-1.842,-1.948, 2.694,-1.816, PHS= 0.076,-0.087,-1.817, RAW= 34.4, 19.6, CAL= 31.3, 22.7, ROT= 118.7, -22.7  Ygot valid direction response: 04:02:25.3340 LVL= 15552, 13729, 25106, 29747, AGC= 47, IDX= 512,-0.44,-1.842,-1.948, 2.694,-1.816, PHS= 0.076,-0.087,-1.817, RAW= 34.4, 19.6, CAL= 31.3, 22.7, ROT= 118.7, -22.7  T#Rx 95: Read range and direction messages. ^direction in FSK: [-0.443024,0.809201,0.385906] Fpublishing direction and range infoyy } BFZܿ?J?Y} 3Ay } <} 5} b } 3t)y I} 㥛=i} -} u迩} `?} %>} ? } b>)} Ԗ@I} bʾy y } Kx?R 7i+r? } )} I} Ԗ@i} bʾy y  checking for new query: numPingsReceived=95, elapsed TxPingTime=44.413818Y(, ?A Y~qByII=)N>iMb@Mb@Mb@ 9S?jtĿQ뱿Y/>y \QAEA -:A)]AY\KAbDVD:iy%$=ٔQ->9Y=\FyE>Q 5u4?Q 9u4)x^BY%>Q E;y@Q I?B[CI;i;6u4yɮXAiiim?AJimaARimaAjimj@bm%TA3@˼]"@RmBFZܿ?J?ZimԖ@bimbʾjm %{C|U|!S5iװ[$@ZmV<^Ii)4`?2im:im3"im"7?*im Bim7Biiim iiimYAimѓ@ addTargetRange:: Added new target pos. range: 23.900000 m, deltaT: 0.502290 s, deltaX: 0.500000 m, approachRate: 0.995441 m/s, rangeRepo size: 4  Added new target pos. range: 23.797466 m, bearing: 262.491993 deg, lat: 36.779374 deg, lon: -121.859542 deg, deltaT: 0.502290 s, deltaX: 0.497856 m, approachRate: 0.991173 m/s, posRepo size: 4 DNOT Ignoring new targets: 23.80 m.hh*h"h hgfffBddjd`f7@Zd7?Z%>Z%>ZG@Z@) i9)iiIIB>BB1IBpBBBBBă;B9Echecking for new query: numPingsReceived=95, elapsed TxPingTime=44.647144ԡ  i9 E  E E E "E F;*E :VE ZE BE b=? =>)=@I=侩99=v'?zzsSYS? =ĸ)=2þI=@i=侩99checking for new query: numPingsReceived=96, elapsed TxPingTime=44.9153639^A?΅IIO%?11,0ƴ?AB@B%@B;>ٱB> jAHRS rotation from veh to nav: [[-0.841624,-0.520616,-0.143625],[0.518557,-0.853309,0.054420],[-0.150889,-0.028677,0.988135]]BH``Qb¿`?@ONܫ?RPÿ]̞?iB@IB2^;@YrqByrI@A@AbDVD!y-Ž%-)=ٔ-oQ-5>91Y1=5\Fy1==E=>AQ 5Mu4E)랊?Q 9Mu4EJ)EA^BYiym@Q Iu?Ek[CIE};iE;EpGu4y}ۓBɮ}XA}Eii?AJiRijiN@bה";.J3@TSf$@RP4Mٿ?4J?Zi@bij&E d>N\4t3 &@Z]s^ÿQ뿝gA˧?2i::ixf"i?*ifBiҎBiiKIV iTBiAi@)5 addTargetRange:: Added new target pos. range: 23.900000 m, deltaT: 0.501831 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 E Added new target pos. range: 23.797440 m, bearing: 260.167826 deg, lat: 36.779374 deg, lon: -121.859541 deg, deltaT: 0.501831 s, deltaX: -0.000027 m, approachRate: -0.000053 m/s, posRepo size: 4 EDNOT Ignoring new targets: 23.80 m.hAha*hi"hi higififqfqdqdqjdqZd}@q?  gG!9mDW9iYmHDAZZZZ@;>) i˘9)顽iiIIchecking for new query: numPingsReceived=96, elapsed TxPingTime=45.151695Y9@ @@/@ԁ^A I I O >D zD E  E E +E "E [I;*E :VE [4ZE a% @a% @a% @a% @Թ ?7,഻?ADDAT read: Rx Time:04:02:26.3342 TRx dataTimestamp_ set to:1761537747.517544PDAT read: Bearing 68.7, 58.8 (Local) ~Local bearing/azimuth received: Bearing 68.7, 58.8 (Local) &DAT read: Range 11 to 50 : 24.2 m (trip time 16.1 ms) speed -0.3 :DAT read: 04:02:26.3342 LVL= 9328, 11121, 15650, 16707, AGC= 49, IDX= 2,-0.14, 1.536, 1.503,-0.033, 1.564, PHS= 0.075,-0.015,-1.641, RAW= 32.7, 18.5, CAL= 29.7, 21.4, ROT= 120.3, -21.4 >Ygot valid direction response: 04:02:26.3342 LVL= 9328, 11121, 15650, 16707, AGC= 49, IDX= 2,-0.14, 1.536, 1.503,-0.033, 1.564, PHS= 0.075,-0.015,-1.641, RAW= 32.7, 18.5, CAL= 29.7, 21.4, ROT= 120.3, -21.4 >T#Rx 97: Read range and direction messages.B^direction in FSK: [-0.469743,0.803869,0.364877]BFpublishing direction and range infoy;vF޿6oL?>8^.$Z?YAp$q+"= CA)1I=iuJ ҿ?MQ>m? t;>)[`@It;n5RH?[FQ]vH? ÿ)I[`@it;Rchecking for new query: numPingsReceived=97, elapsed TxPingTime=45.420223Ue1@U'&@Us;>ٱU eAHRS rotation from veh to nav: [[-0.845210,-0.514761,-0.143671],[0.512938,-0.856828,0.052349],[-0.150049,-0.029448,0.988240]]UH` xc¿i?!kͪ?4ÿ'`?iUe1@IUxF^;UCYuoqBy}zIԉiMb@Mb@Mb@ 9v?T㥛 ʡEYx>y$FA )[AYbDVDyG%%=ٔQ->9!Y!=%\Fy!%\<E->)Q 55u4-垊?Q 95u4-IQ ==tI)- ^BYe>Q Ee:;ym@Q Im?-[CI-8^.$Z?Zi[`@bit;j*J^"M5((#@Z^soS#r?2i:ihտ"i6Y?*inBiZBi Q?i iZBi6Ai1@U addTargetRange:: Added new target pos. range: 24.200001 m, deltaT: 0.504681 s, deltaX: 0.300001 m, approachRate: 0.594437 m/s, rangeRepo size: 4  Added new target pos. range: 24.096155 m, bearing: 265.654893 deg, lat: 36.779375 deg, lon: -121.859542 deg, deltaT: 0.504681 s, deltaX: 0.298716 m, approachRate: 0.591890 m/s, posRepo size: 4 DNOT Ignoring new targets: 24.10 m.hh*hԱ"h hgfffBddjd@338@Zd`5$?Z}>Z}>Z}1@Z}X@s;>) iߘ9)页'oiiIIBA<B>BBIBpBBBBDBԃ;B9EBBBBBCh4checking for new query: numPingsReceived=97, elapsed TxPingTime=45.655533@ @@@ ^A (I I O >;>,?AE EEE"EL;*EL:VEZEBE9yYy=\FyE>Q 5u4ដ?Q 9u4)]BYyQ I?[CIl:id:eu4DDAT read: Rx Time:04:02:26.8342 TRx dataTimestamp_ set to:1761537748.020769PDAT read: Bearing 68.1, 58.8 (Local) ~Local bearing/azimuth received: Bearing 68.1, 58.8 (Local) DAT read: Range 11 to 50 : 24.2 m (trip time 16.1 ms) speed -0.3 DAT read: 04:02:26.8342 LVL= 14800, 12977, 23778, 27859, AGC= 48, IDX= 498,-0.17, 1.047, 1.000,-0.523, 1.077, PHS= 0.072,-0.032,-1.644, RAW= 33.1, 18.8, CAL= 30.1, 21.7, ROT= 119.9, -21.7 Ygot valid direction response: 04:02:26.8342 LVL= 14800, 12977, 23778, 27859, AGC= 48, IDX= 498,-0.17, 1.047, 1.000,-0.523, 1.077, PHS= 0.072,-0.032,-1.644, RAW= 33.1, 18.8, CAL= 30.1, 21.7, ROT= 119.9, -21.7 T#Rx 98: Read range and direction messages. ^direction in FSK: [-0.463161,0.805462,0.369747] Fpublishing direction and range infoytnݿRPX?3`?Y92\ l)0It=ionҿh?>|? >)@Iy!ɮ%YA!ӢMKj2?ȫ?{VR? #¿)gI@iMchecking for new query: numPingsReceived=98, elapsed TxPingTime=45.927158iiGT?AJiRiji@bNyR& D h3@Z?m[!@RtnݿRPX?3`?Zi@bij³h6RL5a^#@Z7G 3P?2i:i@"iޖF?*iBirBiޖF?iirBiAi@ addTargetRange:: Added new target pos. range: 24.200001 m, deltaT: 0.503225 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 24.096064 m, bearing: 265.200183 deg, lat: 36.779374 deg, lon: -121.859542 deg, deltaT: 0.503225 s, deltaX: -0.000092 m, approachRate: -0.000182 m/s, posRepo size: 4 DNOT Ignoring new targets: 24.10 m.hh*h"h hgfffddjdZd5?ZYZYZYZYi)i mԑiuˏ9)顝iiIIIfA)@ @@@@hA@] checking for new query: numPingsReceived=98, elapsed TxPingTime=46.159069^Au ?΅Iy I O > oE,*t?AYr7qByrWIbDzVDz0y%'%-c=ٔ)Q-->9)Y1=5\Fy11E5>9Q 5Eu4=ݞ?Q 9Eu4=)=]BYIyIQ IM?=[CI=:i=$:=Jru4yQɮUYAYDNOT Ignoring new targets: 24.10 m.hh*h"h hgfffddjdZdh?ZZZZ) i}9)"riiIIEU EUEU,EQ"EU&U;*EUA:VEUg4ZEQa]@a]@a]@ae@@ @@ 0@DDAT read: Rx Time:04:02:27.3343 TRx dataTimestamp_ set to:1761537748.524735PDAT read: Bearing 67.5, 58.6 (Local) ~Local bearing/azimuth received: Bearing 67.5, 58.6 (Local) DAT read: Range 11 to 50 : 24.3 m (trip time 16.2 ms) speed -0.2 DAT read: 04:02:27.3343 LVL= 13392, 13249, 24050, 26035, AGC= 49, IDX= 499,-0.28, 2.281, 2.224, 0.717, 2.319, PHS= 0.064,-0.051,-1.647, RAW= 33.4, 19.2, CAL= 30.4, 22.3, ROT= 119.6, -22.3 Ygot valid direction response: 04:02:27.3343 LVL= 13392, 13249, 24050, 26035, AGC= 49, IDX= 499,-0.28, 2.281, 2.224, 0.717, 2.319, PHS= 0.064,-0.051,-1.647, RAW= 33.4, 19.2, CAL= 30.4, 22.3, ROT= 119.6, -22.3 %T#Rx 99: Read range and direction messages.-^direction in FSK: [-0.457000,0.804465,0.379456]-Fpublishing direction and range infoy,|?ݿA -?NkI?YfAP43] e)1Io=i`Pҿ;?>? SF>)0@ISFǾG?m̵)< `A? \)ΫI0@iSFǾMchecking for new query: numPingsReceived=99, elapsed TxPingTime=46.427887^AMIYIiO}>) Q IK,)Y/?ABpBpBrIBrpBBpBpBpBr;Br :EY~qBy~?Ichecking for new query: numPingsReceived=99, elapsed TxPingTime=46.662930iMb@Mb@Mb@ 9|?5^?/$ʡEYM>yOABA 7A)YIAbDVD:y%==ٔQ->9 Y = \Fy E>Q 5%u4ٞ?Q 9%u4)]BY%l>Q E%e;y% @Q I%?[CI:iH:hu4y5ʓBɮ5ZA5EiiB!?AJiARiAjip@bDfbc&9v3@}\"@R,|?ݿA -?NkI?Zi0@biSFǾj.%kIo5u}Q$@Zc:b>?2i:i"i)e1?*i,^.BiٌBi)e1?i,^.iٌBiAis@ addTargetRange:: Added new target pos. range: 24.299999 m, deltaT: 0.503966 s, deltaX: 0.099998 m, approachRate: 0.198423 m/s, rangeRepo size: 4  Added new target pos. range: 24.195631 m, bearing: 264.793211 deg, lat: 36.779372 deg, lon: -121.859542 deg, deltaT: 0.503966 s, deltaX: 0.099567 m, approachRate: 0.197568 m/s, posRepo size: 4 DNOT Ignoring new targets: 24.20 m.hh*h"h hgfff&BddjdL8@ZdW?)Zml>Zml>Zm e@Zm @y)y }i}x9)額iiII I)9@ @@0@Ee EeEaEa"EemR;*Ee:VEaZEaBEe8^.$Z?YA8=b[ 3e)2I=i̼AпV?MQ>V? t;>)a@It;%<"?kL=X(Q? )eIa@it;ԡ ^A I! I1 Om >u checking for new query: numPingsReceived=100, elapsed TxPingTime=46.937645/R,,I?A9)Y)=-\Fy)1E5>9Q 5Eu4=՞?Q 9Eu4=I)=b]BYAyAQ IE?=[CI= :i=$:=u4yUBɮUXAQi i A?AJi ARi Aji @b TlL&(w3@dR\L!@R Xە ݿZ?>8^.$Z?Zi a@bi t;j d5PX#@Z VųV"%͌?2i :i 3"i `9?*i jZBi Bi `9?i jZi rBi %Ai @ addTargetRange:: Added new target pos. range: 24.200001 m, deltaT: 0.503946 s, deltaX: -0.099998 m, approachRate: -0.198431 m/s, rangeRepo size: 4  Added new target pos. range: 24.096062 m, bearing: 265.151721 deg, lat: 36.779373 deg, lon: -121.859542 deg, deltaT: 0.503946 s, deltaX: -0.099569 m, approachRate: -0.197579 m/s, posRepo size: 4 DNOT Ignoring new targets: 24.10 m.hh*h"h hgfffddjd@338@Zd O ?ZZZZy)y }ˉi}ύ9)顅BHiiIIt>i,>Ա 9@  @@4@Echecking for new query: numPingsReceived=100, elapsed TxPingTime=47.169296^Am#IyIO>E}  E} Ey Ey "E} Q;*E} :VEy ZEy a @a @a @a @  DDAT read: Rx Time:04:02:28.3344 - TRx dataTimestamp_ set to:1761537749.540592M PDAT read: Bearing 69.9, 59.0 (Local) ZX,( c?A2'@2'@2>ٱ24 :AHRS rotation from veh to nav: [[-0.859688,-0.490386,-0.143035],[0.489260,-0.870956,0.045395],[-0.146839,-0.030956,0.988676]]2Hzb߿@N¿ P? >?`¿񲟿;?i2'@I2>^;2C>~Local bearing/azimuth received: Bearing 69.9, 59.0 (Local) JDAT read: Range 11 to 50 : 24.5 m (trip time 16.3 ms) speed -0.1 jDAT read: 04:02:28.3344 LVL= 14528, 14641, 25250, 27299, AGC= 50, IDX= 500, 0.08,-0.727,-0.780,-2.286,-0.710, PHS= 0.085,-0.025,-1.620, RAW= 33.3, 18.4, CAL= 30.3, 21.3, ROT= 119.7, -21.3 pYvpByz2IYgot valid direction response: 04:02:28.3344 LVL= 14528, 14641, 25250, 27299, AGC= 50, IDX= 500, 0.08,-0.727,-0.780,-2.286,-0.710, PHS= 0.085,-0.025,-1.620, RAW= 33.3, 18.4, CAL= 30.3, 21.3, ROT= 119.7, -21.3 V#Rx 101: Read range and direction messages.^direction in FSK: [-0.461614,0.809296,0.363251]Fpublishing direction and range infoyQUB-ݿ%z?+=??YUAQU8U19Ub Uj)QIU{=iQU)\ϿU,?Ul>Ua? UV>)Uȴ@IUVQQUMs[? ,M#bB? U)UC餾IUȴ@iUVQQchecking for new query: numPingsReceived=101, elapsed TxPingTime=47.497471iMb@Mb@Mb@ 9jt?{Gzp= ףY >y#dOAEA -:A)ZAYJA-AA-AAbD5VD502yE Q%E,=ٔMaQ-u>9yYy=}\FyTo=E>Q 5u4ў?Q 9u4)7]BY2>Q E;y@Q I?[CIa:i:u4y ɮMrXAIiQiUb?AJiU(ARiU(AjiU@bU/&O&3@Uzy !@RUB-ݿ%z?+=??ZiUȴ@biUVjU+Ip(]M6Na#@ZU}PAj/~LAF4?2iUj:iUO"iU5f?*iU=~BiUBiUޖF?iUiUZBiUDZAiU}l@e addTargetRange:: Added new target pos. range: 24.500000 m, deltaT: 0.511911 s, deltaX: 0.299999 m, approachRate: 0.586038 m/s, rangeRepo size: 4 } Added new target pos. range: 24.394772 m, bearing: 266.745765 deg, lat: 36.779374 deg, lon: -121.859544 deg, deltaT: 0.511911 s, deltaX: 0.298710 m, approachRate: 0.583519 m/s, posRepo size: 4 DNOT Ignoring new targets: 24.39 m.hh*h"h hgfff6Bddjd8@Zd?Z2>Z2>Z3@Z@@%>)! %i%9))-Č)i)i111I1IYAABBBIB8pBBBBB;B2:E1]checking for new query: numPingsReceived=101, elapsed TxPingTime=47.6755649@ @@0@a ^A I! I1 OE >z^,|?AE& E&E&-E$"E&CJ;*E&g:VE&t4ZE$BE&:E&;;QVD@9(@f>ٱ =AHRS rotation from veh to nav: [[-0.861851,-0.486629,-0.142845],[0.485547,-0.873065,0.044736],[-0.146483,-0.030802,0.988733]]HH$߿H¿1?& ?`¿`?iVD@I/^;CYMpByM+IbDeVDeyuc%uZ=ٔu{Q-u>9yYy=}\Fyy}kA<E>Q 5u4RΞ?Q 9u4)]BYyK@Q I? \CI:i:(u4yBɮXAEDDAT read: Rx Time:04:02:28.8344 TRx dataTimestamp_ set to:1761537750.040837PDAT read: Bearing 68.3, 58.9 (Local) ~Local bearing/azimuth received: Bearing 68.3, 58.9 (Local) DAT read: Range 11 to 50 : 24.5 m (trip time 16.3 ms) speed 0.0 DAT read: 04:02:28.8344 LVL= 14480, 15265, 24258, 26915, AGC= 51, IDX= 500,-0.35,-2.462,-2.546, 2.258,-2.441, PHS= 0.081,-0.060,-1.628, RAW= 34.3, 19.1, CAL= 31.2, 22.1, ROT= 118.8, -22.1 %Ygot valid direction response: 04:02:28.8344 LVL= 14480, 15265, 24258, 26915, AGC= 51, IDX= 500,-0.35,-2.462,-2.546, 2.258,-2.441, PHS= 0.081,-0.060,-1.628, RAW= 34.3, 19.1, CAL= 31.2, 22.1, ROT= 118.8, -22.1 %V#Rx 102: Read range and direction messages.-^direction in FSK: [-0.446359,0.811923,0.376224]-Fpublishing direction and range infoyuB$#ܿJF?*?Y8;^ #i)3IT=iuNbп@?㭪>'g ? |>)m@I|žl"?7(Ys? Q)FuIm@i|žchecking for new query: numPingsReceived=102, elapsed TxPingTime=47.950722 addTargetRange:: Added new target pos. range: 24.500000 m, deltaT: 0.500245 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 24.39 m.hh*h"h hgfffdd9jd9Zd=@5?yZZZZ^K@f>) i+9)<iiIIu9@q @q@u4@qԩ} checking for new query: numPingsReceived=102, elapsed TxPingTime=48.179340^A FӅI I O >[e,x?A2׈@2w~(@2}P>ٱ2 :AHRS rotation from veh to nav: [[-0.863902,-0.482912,-0.143073],[0.481955,-0.875110,0.043610],[-0.146265,-0.031280,0.988751]]2H޿:P¿W?@@T? θ¿أ?i2׈@I2H^;2CYBpByBI DDbDJVDJ:yR4%Vn=ٔV(Q-V?9TYX=Z\FyXZXG<EZ?\Q 5bu4^9˞?Q 9bu4^)^\BYdyf@Q If?^\CI^6:i^:^*u4yhɮjXAhii?AJiRiji[@bwc%]$3@_b["@RuB$#ܿJF?*?Zim@bi|žjW$i??.6n$7q$@Z^ Bிa}qD\?2iq:iM"i7AO?*iIfLBiBiiIfLirBiAi@%DNOT Ignoring new targets: 24.39 m.h!h!*h!"h! h!g)f)f)f)d1d1jd1Zd5`[?ZYZYZYZ]W@m}P>)i miu9)qu}̶qiqԹiII)bEg4jEd49@ @@/@rEŸ.Eu& EuEu*Eq"Eu8^;*EuZ:VEu(N4ZEqa@a@a@a@DDAT read: Rx Time:04:02:29.3345 TRx dataTimestamp_ set to:1761537750.547687 PDAT read: Bearing 68.8, 59.1 (Local) ~Local bearing/azimuth received: Bearing 68.8, 59.1 (Local) %DAT read: Range 11 to 50 : 24.6 m (trip time 16.4 ms) speed 0.0 DAT read: 04:02:29.3345 LVL= 13760, 13297, 24210, 27027, AGC= 50, IDX= 501,-0.02,-0.097,-0.190,-1.667,-0.086, PHS= 0.091,-0.059,-1.625, RAW= 34.5, 18.9, CAL= 31.4, 21.9, ROT= 118.6, -21.9 ^AIIO%>uYgot valid direction response: 04:02:29.3345 LVL= 13760, 13297, 24210, 27027, AGC= 50, IDX= 501,-0.02,-0.097,-0.190,-1.667,-0.086, PHS= 0.091,-0.059,-1.625, RAW= 34.5, 18.9, CAL= 31.4, 21.9, ROT= 118.6, -21.9 uV#Rx 103: Read range and direction messages.}^direction in FSK: [-0.444148,0.814625,0.372988]}Fpublishing direction and range infoyplܿ2DRfg?0?YA53^ i)2I5^=iqп%?[>K ? E>);z@IEþYB?uQê./ͷ? K)ȨI;z@iEþchecking for new query: numPingsReceived=103, elapsed TxPingTime=48.5282829 k,*U?A2@2$(@2R:>ٱ2nF :AHRS rotation from veh to nav: [[-0.865808,-0.479360,-0.143492],[0.478547,-0.877037,0.042418],[-0.146181,-0.031941,0.988742]]2H೴ԭ޿@]¿?۷?`¿@Z@ƣ?i2@I27^;2CBPBPBRIBRpBBPBPBPBR1;BRM:EY~pBy~IEchecking for new query: numPingsReceived=103, elapsed TxPingTime=48.682854iMb@Mb@Mb@ 9Q?ytDMA&CA :A)ZAYpIAbDVDy<%:=ٔxIQ->9Y=\Fy<E>Q 5u4$Ǟ?Q 9u4 )\BY>Q E;y#@Q I?%\CI:i:u4yɮXAi1i5N ?AJi5ARi5Aji5@b5mQ%tP$3@璿ެE"@R5plܿ2DRfg?0?Zi5;z@bi5Eþj5cJCNudPQ6#@Z5~J#s b( E˪?2i5:i5v"i5_cL?*i5==Bi5fBi5_cL?i1i5fBi5Ai5n@E addTargetRange:: Added new target pos. range: 24.600000 m, deltaT: 0.506850 s, deltaX: 0.100000 m, approachRate: 0.197298 m/s, rangeRepo size: 4  Added new target pos. range: 24.494328 m, bearing: 266.265633 deg, lat: 36.779375 deg, lon: -121.859543 deg, deltaT: 1.007095 s, deltaX: 0.099556 m, approachRate: 0.098855 m/s, posRepo size: 4 DNOT Ignoring new targets: 24.49 m.hh*h"h hgfffBd d jd 8@Zd?Z>Z>Z@ZY#@R:>) Gi;9)顽򶉢iiII A9@ @@/@Eu' EuEu.Eq"Eu _;*Eu:VEuـ4ZEqBEu] ^direction in FSK: [-0.444261,0.818228,0.364877]] Fpublishing direction and range infoygyjnܿj.?>8^.$Z?YA9=c Co)3I"=i`PwϿ ?MQ>L ? t;>)]@It;oU ?">iA+@L? Kz)zٱ2? :AHRS rotation from veh to nav: [[-0.867621,-0.475883,-0.144112],[0.475252,-0.878893,0.041019],[-0.146180,-0.032900,0.988711]]2H t޿Fr¿ j?@?¿Qؠ?i2@I2U^;2CYBpByB*IbDJVDJybsL=%f\=ٔfgQ-f>9hYh=j\FyhjU'<Ej>|Q 5u4~Þ?Q 9 u4~T)~\BY y #@Q I ?~2\CI~9:i~:~u4yɮXAi)i-;õ?AJi-(ARi-(Aji-Ҕ@b-R% 83@EcjZ!@R-gyjnܿj.?>8^.$Z?Zi-]@bi-t;j-3ikfT6ut#@Z-&yVL﬿T+JS?2i-:i-v"i-yO?*i-(Bi-Bi-7AO?i-(i-Bi-Ai-є@ addTargetRange:: Added new target pos. range: 24.500000 m, deltaT: 0.500972 s, deltaX: -0.100000 m, approachRate: -0.199613 m/s, rangeRepo size: 4  Added new target pos. range: 24.394756 m, bearing: 266.466897 deg, lat: 36.779375 deg, lon: -121.859544 deg, deltaT: 0.500972 s, deltaX: -0.099571 m, approachRate: -0.198756 m/s, posRepo size: 4 DNOT Ignoring new targets: 24.39 m.h!h!*h!"h! h!g!f!f)f)d)d)jd58@ZdU?qZZZZ#@9>) i9)顭 iiIIUchecking for new query: numPingsReceived=104, elapsed TxPingTime=49.187038ԡ095 9@1  @9 @9 @A E  E E -E "E L;*E :VE t4ZE a @a @a @a @% DDAT read: Rx Time:04:02:30.3345 - TRx dataTimestamp_ set to:1761537751.556932M PDAT read: Bearing 69.5, 59.7 (Local) ] ~Local bearing/azimuth received: Bearing 69.5, 59.7 (Local)  DAT read: Range 11 to 50 : 24.6 m (trip time 16.4 ms) speed 0.0  DAT read: 04:02:30.3345 LVL= 13376, 13937, 23154, 25379, AGC= 50, IDX= 501, 0.30, 2.106, 1.985, 0.506, 2.090, PHS= 0.118,-0.059,-1.628, RAW= 35.3, 18.4, CAL= 32.0, 21.3, ROT= 118.0, -21.3  Ygot valid direction response: 04:02:30.3345 LVL= 13376, 13937, 23154, 25379, AGC= 50, IDX= 501, 0.30, 2.106, 1.985, 0.506, 2.090, PHS= 0.118,-0.059,-1.628, RAW= 35.3, 18.4, CAL= 32.0, 21.3, ROT= 118.0, -21.3  V#Rx 105: Read range and direction messages. ^direction in FSK: [-0.437403,0.822635,0.363251] Fpublishing direction and range infoy! % w!mFgۿ_+S?+=??Y% A! % @4% q6% rZ % #c)% 2I% =i% q% Nbп% ϸ?% l>% 5? % V>)% @I% V! ! % } mL}]?x:W;? % B)% I% @i% V! ! ^A #I I O>yy,絻?A*checking for new query: numPingsReceived=105, elapsed TxPingTime=49.5182346E@6;)@6Xa>ٱ6 RAHRS rotation from veh to nav: [[-0.869400,-0.472387,-0.144897],[0.471945,-0.880738,0.039612],[-0.146328,-0.033945,0.988653]]6H ;޿`¿Z4?/H?¿ 7a ?i6E@I6<^;6CYZpByZ/Ii%Mb@Mb@Mb@!!!! !9%X9v?{Gzt?Y%=y%ף;%̼%NA%VBA %-:A)!!Y%GIAbDEVDEyUi<%U=ٔUj9Q-]>9YYY=}\Fyy\;E>Q 5u4?Q 9u4)\BY>Q E;yu+@Q I?C\CI:i:u4yɮuXAiiƤ㵻?AJiARiAjiޫ@b؁m%,{^&4@c|!@Rw!mFgۿ_+S?+=??Zi@biVj~5_s6?]\#@Z#6Q5aTp,K?2i:i"ix@?*iBi׋Bii==iBiOAi @U addTargetRange:: Added new target pos. range: 24.600000 m, deltaT: 0.508273 s, deltaX: 0.100000 m, approachRate: 0.196745 m/s, rangeRepo size: 4  Added new target pos. range: 24.494328 m, bearing: 266.195034 deg, lat: 36.779375 deg, lon: -121.859545 deg, deltaT: 0.508273 s, deltaX: 0.099571 m, approachRate: 0.195901 m/s, posRepo size: 4 DNOT Ignoring new targets: 24.49 m.hh*h"h hgfff Bddjd8@Zd@?B<ABBBIBpBBBBB-;BH:EZE>ZE>ZEi%=ZEVu+@}Xa>)y }i}h9)顅iiIchecking for new query: numPingsReceived=105, elapsed TxPingTime=49.690956I9@ @ @ @ AE  E E /E "E >T;*E :VE J4ZE BE #@R,X?A>m@> })@>Ώ>ٱ>8 JAHRS rotation from veh to nav: [[-0.871255,-0.468801,-0.145396],[0.468456,-0.882636,0.038762],[-0.146504,-0.034340,0.988614]]>H`R޿Y¿0?>أ?¿ ?i>m@I>]b^;>CYR qByR<IbDZVDZybԋ=%b=ٔf:Q-f ?9dYh=j\FyhjQ<Ej?lQ 5ru4n񻞊?Q 9ru4n")n\BYtyv+@Q Iv?iIADDAT read: Rx Time:04:02:30.8345 %TRx dataTimestamp_ set to:1761537752.057075UPDAT read: Bearing 69.1, 59.8 (Local) U~Local bearing/azimuth received: Bearing 69.1, 59.8 (Local) uDAT read: Range 11 to 50 : 24.6 m (trip time 16.4 ms) speed 0.0 nL\CIn =in =nu4yɮXADAT read: 04:02:30.8345 LVL= 12464, 12593, 23618, 24899, AGC= 49, IDX= 500, 0.46,-0.249,-0.386,-1.840,-0.268, PHS= 0.121,-0.073,-1.616, RAW= 35.8, 18.6, CAL= 32.5, 21.5, ROT= 117.5, -21.5 %Ygot valid direction response: 04:02:30.8345 LVL= 12464, 12593, 23618, 24899, AGC= 49, IDX= 500, 0.46,-0.249,-0.386,-1.840,-0.268, PHS= 0.121,-0.073,-1.616, RAW= 35.8, 18.6, CAL= 32.5, 21.5, ROT= 117.5, -21.5 MV#Rx 106: Read range and direction messages.U^direction in FSK: [-0.429619,0.825290,0.366501]UFpublishing direction and range infoy~ۿMI}h?ѨCt?Y011B\ Ca)1I=iο?6>6? 7 >)?@aii?AJiRijik@bMa %Tܷ74@8(iR!@R~ۿMI}h?ѨCt?Zi?@bi7 jRs7`l6 fq#@Z5UݰK"Eg?2id:iο"i&m3?*iLBiBI7 3?tPP,c'f? )I?@i7 checking for new query: numPingsReceived=106, elapsed TxPingTime=49.995438i_cL?iiBiqAi#@ addTargetRange:: Added new target pos. range: 24.600000 m, deltaT: 0.500143 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 - Added new target pos. range: 24.494301 m, bearing: 265.884143 deg, lat: 36.779375 deg, lon: -121.859545 deg, deltaT: 0.500143 s, deltaX: -0.000027 m, approachRate: -0.000053 m/s, posRepo size: 4 -DNOT Ignoring new targets: 24.49 m.h)h)*h1"h1 h1g1f1f9f9d9dajdaZde`(?ZZZZp+@Ώ>) Di9)-iiIIԡ@ @@/@G1e@%9aYeAchecking for new query: numPingsReceived=106, elapsed TxPingTime=50.195122^A ?΅I! I1 O= > t,?A2~@2)@2Ґ>ٱ2H6 :AHRS rotation from veh to nav: [[-0.873222,-0.465147,-0.145334],[0.464779,-0.884586,0.038584],[-0.146508,-0.033855,0.988630]]2H`nݿ@L¿?`N@R?¿U`ۢ?i2~@I2D^;2CYR-qByRQIbDZVDZβyb<=%bK=ٔf!7Q-f>9dYd=j\Fyhj+<Ej>lQ 5ev4nR?Q 9mv4n)n\BYqyu+@DDEI E(E)E"E};*E;VEFA4ZEa@a@a@a@Q I?nY\CIn_) 7iŕ9)M@ii^direction in FSK: [-0.422401,0.829008,0.366501]Fpublishing direction and range infoyY] ۿ3t;?ѨCt?YYY]@1]1]X ]_)]0I]>i] ף]hͿ]0"?Y]r? Y)]@IYYY]Ǻ?$d'#c\? ])麿)][¥I]@iYYY9I9IAechecking for new query: numPingsReceived=107, elapsed TxPingTime=50.5184259@ @@@@@1 B B B IB .pBB B B B ";B =:EBBBBBCe`4 checking for new query: numPingsReceived=107, elapsed TxPingTime=50.699638^A I I O% >Q ,4?A2@2k*@2>ٱ2<9 :AHRS rotation from veh to nav: [[-0.875086,-0.461633,-0.145324],[0.461237,-0.886443,0.038458],[-0.146575,-0.033375,0.988636]]2H@`cݿ@¿@?]@?¿`?i2@I25^;2CYBMqByBeI DDiMb@Mb@Mb@ 9K7?{GztyףtQA&CA X9A)[AY=JAbDVD 8y=%;=ٔ"9Q->9Y=\Fya<E>Q 5v4?Q 9v4)|\BY >Q E;y}'@Q I?h\CI :i;v4yɮWAii2$?AJiRiji{@bI^$zUN4@`S!@R ۿ3t;?ѨCt?Zi@bij /{Qm68n m#@Z2 p'͙LNLAa?2ij:iϿ"i"+?*i3BiBix@?iii޳Aiٔ@M addTargetRange:: Added new target pos. range: 24.600000 m, deltaT: 0.508521 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 24.494329 m, bearing: 265.857026 deg, lat: 36.779373 deg, lon: -121.859545 deg, deltaT: 0.508521 s, deltaX: 0.000029 m, approachRate: 0.000056 m/s, posRepo size: 4 DNOT Ignoring new targets: 24.49 m.hh*h"h hgfffUBddjdZd?Z >Z >Z@Z}'@%>)! %)i-h9)IMOIiIiQQQIQIYE. EOE.E"Eye;*E3;VEـ4ZEBEiUEU{οUl$?QU;? Q)US>@IQQQUFݼ?"yr@W{Ni\? U}͹)UĥIUS>@iQQQUchecking for new query: numPingsReceived=108, elapsed TxPingTime=50.986534^A- (I1 IA OU >ԁ ,lN?A02Z@2qP*@2>ٱ2, :AHRS rotation from veh to nav: [[-0.877221,-0.457501,-0.145520],[0.457174,-0.888579,0.037679],[-0.146544,-0.033475,0.988638]]2H 2Gݿg¿@UB? =oJ?¿#@?i2Z@I2}G^;2CYjsqByj|IbD VD yp=%V=ٔ%Q-%>9!Y!=%\Fy!-dG<E->1Q 5=v45H?Q 9=v45#)5q\BY9yE'@Q IE?5u\CI5;i5Q;5Vv4yIɮM{VAIii9GD?AJi(ARi(Ajikh@b|+kkS$^~K4@,!@ROڿV@9?ѨCt?ZiS>@bij CȻNW6'RQL#@Z ӹb&N9%P?2i:iտ"i@|#?*i:BiBi&m3?i3iiAii@ addTargetRange:: Added new target pos. range: 24.500000 m, deltaT: 0.501251 s, deltaX: -0.100000 m, approachRate: -0.199502 m/s, rangeRepo size: 4  Added new target pos. range: 24.394758 m, bearing: 265.723284 deg, lat: 36.779372 deg, lon: -121.859544 deg, deltaT: 0.501251 s, deltaX: -0.099571 m, approachRate: -0.198645 m/s, posRepo size: 4 DNOT Ignoring new targets: 24.39 m.hh*h"h hgfffddjd8@Zd#d?ZZ >ZZ'@>) i9)k`ii I I checking for new query: numPingsReceived=108, elapsed TxPingTime=51.204056ԑ9@ @@/@ԹDzD?AE" EE-E"EZ;*EA:VEt4ZEa@a@a@a@^A?΅I1IYO> u DDAT read: Rx Time:04:02:32.3345  TRx dataTimestamp_ set to:1761537753.573841 PDAT read: Bearing 68.6, 60.3 (Local)  ~Local bearing/azimuth received: Bearing 68.6, 60.3 (Local)  DAT read: Range 11 to 50 : 24.6 m (trip time 16.4 ms) speed 0.0 ] DAT read: 04:02:32.3345 LVL= 11696, 12161, 22482, 23763, AGC= 48, IDX= 501,-0.28, 3.127, 2.942, 1.522, 3.088, PHS= 0.141,-0.101,-1.610, RAW= 37.3, 18.7, CAL= 33.8, 21.6, ROT= 116.2, -21.6 u Ygot valid direction response: 04:02:32.3345 LVL= 11696, 12161, 22482, 23763, AGC= 48, IDX= 501,-0.28, 3.127, 2.942, 1.522, 3.088, PHS= 0.141,-0.101,-1.610, RAW= 37.3, 18.7, CAL= 33.8, 21.6, ROT= 116.2, -21.6 } V#Rx 109: Read range and direction messages. ^direction in FSK: [-0.410502,0.834250,0.368125] Fpublishing direction and range infoyy } [0Eڿ Μ},?{.MZ?Y} Ay } -} /} W } \)y I} Nb>i} νy } r&?} >} ? } >)} @I} y y } Ž?a'sgz? } )} ŦI} @i} y y  checking for new query: numPingsReceived=109, elapsed TxPingTime=51.499222,h?AF̦@Fl*@F>ٱF \ vAHRS rotation from veh to nav: [[-0.879322,-0.453432,-0.145577],[0.453095,-0.890677,0.037400],[-0.146620,-0.033074,0.988640]]FHg#ݿ@F¿@?`m &?u¿?iF̦@IF2^;FCYqByIi5Mb@Mb@Mb@1111 195ʡE?{GzY5-2>y5#515VBA 5-:A)5v\A1Y5JAbDuVDu:y}=%)=ٔ'9Q->9Y=\Fy<E>Q 5v4?Q 9v4)e\BY6>Q E;y@Q I?\CI;i;Y.v4yBɮVAEiiйd?AJiARiAjiR@b̃k$$4o4@0="@R[0Eڿ Μ},?{.MZ?Zi@bijto,Hk6Im#@Z0&#-ItqK`?2iZ:iL޿"ig?*iZBi/Bi"+?iiBixAi@AABBBIBkpBBBBB0;BK:E addTargetRange:: Added new target pos. range: 24.600000 m, deltaT: 0.506994 s, deltaX: 0.100000 m, approachRate: 0.197242 m/s, rangeRepo size: 4  Added new target pos. range: 24.494329 m, bearing: 265.570376 deg, lat: 36.779371 deg, lon: -121.859544 deg, deltaT: 0.506994 s, deltaX: 0.099571 m, approachRate: 0.196395 m/s, posRepo size: 4 DNOT Ignoring new targets: 24.49 m.hh*h"h hgfff{Bd d jd 8@Zd `p?Z]6>Z]6>Z]@Z]_@>) i9)顕wtiichecking for new query: numPingsReceived=109, elapsed TxPingTime=51.707054II I)A9@ @@4@@@=I E 2 E E .E "E i;*E :VE ـ4ZE BE )d,?A2@2z*@2|>ٱ25 ZAHRS rotation from veh to nav: [[-0.881470,-0.449290,-0.145427],[0.448901,-0.892800,0.037362],[-0.146623,-0.032349,0.988663]]2H5+ܿX¿`˺?`ё!?@¿@!?i2@I2M^;0YnqByrIIv=DDAT read: Rx Time:04:02:32.8344  TRx dataTimestamp_ set to:1761537754.073896-PDAT read: Bearing 68.8, 60.6 (Local) 5~Local bearing/azimuth received: Bearing 68.8, 60.6 (Local) MDAT read: Range 11 to 50 : 24.5 m (trip time 16.3 ms) speed 0.0 DAT read: 04:02:32.8344 LVL= 13568, 13905, 23186, 25779, AGC= 48, IDX= 500,-0.19, 1.381, 1.186,-0.231, 1.333, PHS= 0.151,-0.102,-1.607, RAW= 37.6, 18.5, CAL= 34.1, 21.4, ROT= 115.9, -21.4 )vR=bDVDJYgot valid direction response: 04:02:32.8344 LVL= 13568, 13905, 23186, 25779, AGC= 48, IDX= 500,-0.19, 1.381, 1.186,-0.231, 1.333, PHS= 0.151,-0.102,-1.607, RAW= 37.6, 18.5, CAL= 34.1, 21.4, ROT= 115.9, -21.4 V#Rx 110: Read range and direction messages.^direction in FSK: [-0.406687,0.837538,0.364877]Fpublishing direction and range infoy4(ڿlX8^.$Z?YA5Q6Z d)I>i`н-Ϳ'?y>%i=ٔ7Q->9Y=\Fya<E?MQ>:\? t;>)(v@It;1 (?˞V{fmO? h)eTI(v@it;checking for new query: numPingsReceived=110, elapsed TxPingTime=51.991848Q 5v4ͦ?Q 9v4)\\BYyS@Q I?\CI8^.$Z?Zi(v@bit;jMA6.M\6 0#@Z,% zU4q+?2i:iQݿ"i?*iNBi Bi@|#?iZi BiAib@% addTargetRange:: Added new target pos. range: 24.500000 m, deltaT: 0.500055 s, deltaX: -0.100000 m, approachRate: -0.199979 m/s, rangeRepo size: 4 5 Added new target pos. range: 24.394743 m, bearing: 265.578675 deg, lat: 36.779370 deg, lon: -121.859543 deg, deltaT: 0.500055 s, deltaX: -0.099586 m, approachRate: -0.199151 m/s, posRepo size: 4 5DNOT Ignoring new targets: 24.39 m.h1h1*h19"h9 hYgYfYfafadadajde8@Zdm`f?ZZZZ@S@|>) i 9)iiIIm9@q @q@u/@qiߥ=ߥ<checking for new query: numPingsReceived=110, elapsed TxPingTime=52.211205^A #ԙ I I O >¦,\?A5@5/+@5>ٱ5ԁE EE-E"EUS;*E&:VEt4ZEa@a@a@a@ -AHRS rotation from veh to nav: [[-0.886415,-0.439329,-0.145805],[0.439108,-0.897735,0.035453],[-0.146469,-0.032598,0.988678]]5H]ܿ¿W?>&?¿@?i5@I5^^;1Y=qBy=IbDMVDMy]ʝ=%eB=ٔe<¹Q-e>9aYi=m\Fyim<Em>yQ 5v4}?Q 9v4}d)}R\BYy @Q I?}\CI}`;i}.;}(Iv4yɮTADNOT Ignoring new targets: 24.39 m.hh*h"h hgfffddjdZd`?=DDAT read: Rx Time:04:02:33.3345 UTRx dataTimestamp_ set to:1761537754.582193uPDAT read: Bearing 67.6, 60.7 (Local) }~Local bearing/azimuth received: Bearing 67.6, 60.7 (Local) ԩZZZZ @ DAT read: Range 11 to 50 : 24.6 m (trip time 16.4 ms) speed 0.0 ->)) -i59)1591i1i999I9mDAT read: 04:02:33.3345 LVL= 13648, 12529, 22050, 24115, AGC= 48, IDX= 501,-0.06, 3.132, 2.909, 1.509, 3.080, PHS= 0.153,-0.126,-1.615, RAW= 38.4, 18.8, CAL= 34.8, 21.8, ROT= 115.2, -21.8 }Ygot valid direction response: 04:02:33.3345 LVL= 13648, 12529, 22050, 24115, AGC= 48, IDX= 501,-0.06, 3.132, 2.909, 1.509, 3.080, PHS= 0.153,-0.126,-1.615, RAW= 38.4, 18.8, CAL= 34.8, 21.8, ROT= 115.2, -21.8 }V#Rx 111: Read range and direction messages.I^direction in FSK: [-0.395330,0.840119,0.371368]Fpublishing direction and range infoyAE购MٿA?% ~}?YEAAEP5E0E"V E3^)AIE>iE%ERοE+?E>E|? E>)E@IE¾AAE8?.*G˾U? ED5)EFIE@iE¾AAchecking for new query: numPingsReceived=111, elapsed TxPingTime=52.5208329@ @@/@B >B B IB pBB B B DB L;B h:E ^A= FӅII IY Oe > checking for new query: numPingsReceived=111, elapsed TxPingTime=52.714760,6?AYrqByvIiuMb@Mb@Mb@qqqq q9uMbX?/$Mb`?YuJ>yuu;uQAq q)u^AqYu KAbDVDβy=%X=ٔQ->9Y=\FyE>Q 5v4?Q 9v4ǿ)I\BY@\>Q Ev;y@Q I?\CI ;i ;^Vv4yɮMTAiqiuB?AJiuARiuAjiu#A@bu0\]# 4@4b1"@Ru购MٿA?% ~}?Ziu@biu¾juDwCg6v_{#@ZubzޣNDs?2iu::iuG"iu^>?*iu+\ BiuxBiug?iu:iuBiuдAiu׎@ addTargetRange:: Added new target pos. range: 24.600000 m, deltaT: 0.508297 s, deltaX: 0.100000 m, approachRate: 0.196736 m/s, rangeRepo size: 4 - Added new target pos. range: 24.494453 m, bearing: 265.448550 deg, lat: 36.779369 deg, lon: -121.859543 deg, deltaT: 0.508297 s, deltaX: 0.099710 m, approachRate: 0.196166 m/s, posRepo size: 4 5DNOT Ignoring new targets: 24.49 m.h1h1*h1"h1 h9g9f9f9fEāBdAdAjdE8@ZdE?Ze@\>Ze@\>Ze8@ZeK@!)! %zi%9))-7)i)iYIIIgA)fAE EE)E"EL;*E:VEFA4ZEBEEEi$?Y5A15 /5Q05V 5_)51I5(>i5"۽5?5ο5*?5Ƈ>5#? 5q>)5.@I5q115Nk}BF?Hh ŕ[!? 5>Ͷ)5ףI5.@i5q11checking for new query: numPingsReceived=112, elapsed TxPingTime=52.9965131^A #I I O >Y Fس,X ж?AFn@Fc,@F>ٱF RAHRS rotation from veh to nav: [[-0.891662,-0.428613,-0.145702],[0.428537,-0.902902,0.033530],[-0.145926,-0.032542,0.988760]]FH@enۿ [¿%m?*?¿J`?iFn@IF1^;DYVrByZI \\bDbVDbNyjs=%jW=ٔnQ-n>9lYl=r\Fypr=Er>tQ 5zv4v?Q 9zv4v+)v?\BY|y~@Q I~?v\CIv;iv;vcv4yɮSAiYi]JAŶ?AJi](ARi](Aji] Д@b]8yb#~S=ٞ4@a!@R] ٿ* bO?t>i$?Zi].@bi]qj]/Hso6}zf"@Z]=ϙ_:Ճ&moQ4Y?2i]{:i]@"i]9#?*i]xpG Bi]BiYi]Ni] Bi]Ai]ԡ@U addTargetRange:: Added new target pos. range: 24.500000 m, deltaT: 0.499917 s, deltaX: -0.100000 m, approachRate: -0.200034 m/s, rangeRepo size: 4 e Added new target pos. range: 24.394882 m, bearing: 266.448096 deg, lat: 36.779369 deg, lon: -121.859542 deg, deltaT: 0.499917 s, deltaX: -0.099571 m, approachRate: -0.199176 m/s, posRepo size: 4 mDNOT Ignoring new targets: 24.39 m.hihi*hi"hi higifqfyfydydyjd8@Zdy?1ZAZAZAZE@uchecking for new query: numPingsReceived=112, elapsed TxPingTime=53.219166>) jiʑ9)顭jKiiIIE9@I @I@M0@IYbE5t4jE5p4rE5ǐ'0E= E*E-E"Es;*E;VEt4ZEa@a@a@a@^AIIO>ԹM DDAT read: Rx Time:04:02:34.3346 ] TRx dataTimestamp_ set to:1761537755.590018} PDAT read: Bearing 68.1, 60.8 (Local)  ~Local bearing/azimuth received: Bearing 68.1, 60.8 (Local)  DAT read: Range 11 to 50 : 24.8 m (trip time 16.5 ms) speed -0.1 % DAT read: 04:02:34.3346 LVL= 14464, 16497, 21586, 23619, AGC= 50, IDX= 502,-0.21,-2.876,-3.106, 1.790,-2.933, PHS= 0.158,-0.128,-1.605, RAW= 38.7, 18.8, CAL= 35.1, 21.7, ROT= 114.9, -21.7 e Ygot valid direction response: 04:02:34.3346 LVL= 14464, 16497, 21586, 23619, AGC= 50, IDX= 502,-0.21,-2.876,-3.106, 1.790,-2.933, PHS= 0.158,-0.128,-1.605, RAW= 38.7, 18.8, CAL= 35.1, 21.7, ROT= 114.9, -21.7 m V#Rx 113: Read range and direction messages.  ^direction in FSK: [-0.391198,0.842764,0.369747] Fpublishing direction and range infoyQ U v}c ٿA4Շ?3`?YU fAQ U 8U q@U RT U C\)U 2IU !>iU oU pͿU ,?U >U ? U >)U 3X@IU Q Q U 7l~Q?c%`; ? U l)U IU 3X@iU Q Q = checking for new query: numPingsReceived=113, elapsed TxPingTime=53.539371,c鶻?AV~@V,@V>ٱV AHRS rotation from veh to nav: [[-0.894245,-0.423137,-0.145880],[0.423180,-0.905470,0.032291],[-0.145753,-0.032857,0.988775]]VHۿ 2¿`c?s? ¿ Ҡ ?iV~@IVD^;VCY7rByIԱiMb@Mb@Mb@ 9!rh?S㥛MbYlg>y$ :A)v\AYJAbDVDyf=%+=ٔ`Q->9Y=\Fy%N<E%>)Q 5Uv4--?Q 9Uv4-|)--\BYU΅>Q EUK;y] @Q I]?-\CI-%;i-;-Mtv4yaɮeWSAaii嶻?AJiARiAji@b߻Q#L4@+B"@Rv}c ٿA4Շ?3`?Zi3X@bij}*&E06E#@Z81_5OYU=xenF?2i:i鿿"iL?*iַBiBi?ii/BiwAi0@ addTargetRange:: Added new target pos. range: 24.799999 m, deltaT: 0.507908 s, deltaX: 0.299999 m, approachRate: 0.590657 m/s, rangeRepo size: 4 % Added new target pos. range: 24.693594 m, bearing: 266.210653 deg, lat: 36.779369 deg, lon: -121.859542 deg, deltaT: 0.507908 s, deltaX: 0.298712 m, approachRate: 0.588122 m/s, posRepo size: 4 BQBQBUJIBU"qBBQBQBQBU;;BUW:EeDNOT Ignoring new targets: 24.69 m.hh*h"h hgfffށBddjd8@Zdฌ?Z΅>Z΅>Zq@@Z4 @ >)  (i S9)iiIIIchecking for new query: numPingsReceived=113, elapsed TxPingTime=53.7231609@ @@_0@ E , E #E ,E "E c;*E ;VE g4ZE BE u1 d,?AZ;@Z 1-@Zn>ٱZl zDDAT read: Rx Time:04:02:34.8345 ~TRx dataTimestamp_ set to:1761537756.090224PDAT read: Bearing 69.5, 61.2 (Local) ~Local bearing/azimuth received: Bearing 69.5, 61.2 (Local) DAT read: Range 11 to 50 : 24.6 m (trip time 16.4 ms) speed -0.2 DAT read: 04:02:34.8345 LVL= 13936, 14865, 23442, 26867, AGC= 50, IDX= 501, 0.35,-2.473,-2.699, 2.178,-2.541, PHS= 0.170,-0.113,-1.608, RAW= 38.5, 18.3, CAL= 34.9, 21.2, ROT= 115.1, -21.2 Ygot valid direction response: 04:02:34.8345 LVL= 13936, 14865, 23442, 26867, AGC= 50, IDX= 501, 0.35,-2.473,-2.699, 2.178,-2.541, PHS= 0.170,-0.113,-1.608, RAW= 38.5, 18.3, CAL= 34.9, 21.2, ROT= 115.1, -21.2 V#Rx 114: Read range and direction messages.^direction in FSK: [-0.395491,0.844283,0.361625]Fpublishing direction and range infoyx AHRS rotation from veh to nav: [[-0.897036,-0.417161,-0.145958],[0.417352,-0.908223,0.030798],[-0.145410,-0.033289,0.988811]]ZHIJڿ®¿? )? Ϝ¿8 W?iZ;@IZ2^;XzDIOٿE3^?t>i$?YzAxzp6z:z[ zh)xIz{.>izl罉zͿz,?zƇ>zI? zq>)zd@Izqxxzfdj?Ta b!? z)z֣Izd@izqxxchecking for new query: numPingsReceived=114, elapsed TxPingTime=54.028370YPrByIbDVDβy~=%N=ٔieQ->9Y=\Fy<E> Q 5v4E?Q 9v4D)\BYy* @Q I?]CI:i:&v4y-Bɮ-RAmEixiz;?AJizARizAjiz @bz5>_#-&4@TC!2!@RzDIOٿE3^?t>i$?Zizd@bizqjz*qIsr6p+74"@Zz:}v3O?2izk:izp"iz&?*iz6u BizBixiz+\ izBizAizĔ@ addTargetRange:: Added new target pos. range: 24.600000 m, deltaT: 0.500206 s, deltaX: -0.199999 m, approachRate: -0.399833 m/s, rangeRepo size: 4  Added new target pos. range: 24.494476 m, bearing: 266.878265 deg, lat: 36.779369 deg, lon: -121.859542 deg, deltaT: 0.500206 s, deltaX: -0.199118 m, approachRate: -0.398071 m/s, posRepo size: 4 DNOT Ignoring new targets: 24.49 m.hh*h"h hgfff!d!dajde8@Zdm ?ZZZZ* @n>) _ik9)顽iis{II9checking for new query: numPingsReceived=114, elapsed TxPingTime=54.231441a  9 >i >= 9@9  @9 @= /@9 @E =@E =ԙ E  E E E "E V;*E ]:VE ZE a @a @a @a @^AeIyIO?,+0%?A^DDAT read: Rx Time:04:02:35.3347 bTRx dataTimestamp_ set to:1761537756.604791rPDAT read: Bearing 68.8, 61.2 (Local) v~Local bearing/azimuth received: Bearing 68.8, 61.2 (Local) =DAT read: Range 11 to 50 : 24.9 m (trip time 16.6 ms) speed -0.2 DAT read: 04:02:35.3347 LVL= 15536, 18049, 23058, 26899, AGC= 51, IDX= 503, 0.15,-1.789,-2.031, 2.857,-1.856, PHS= 0.169,-0.130,-1.615, RAW= 39.0, 18.6, CAL= 35.3, 21.6, ROT= 114.7, -21.6 MYgot valid direction response: 04:02:35.3347 LVL= 15536, 18049, 23058, 26899, AGC= 51, IDX= 503, 0.15,-1.789,-2.031, 2.857,-1.856, PHS= 0.169,-0.130,-1.615, RAW= 39.0, 18.6, CAL= 35.3, 21.6, ROT= 114.7, -21.6 MV#Rx 115: Read range and direction messages.]^direction in FSK: [-0.388523,0.844710,0.368125]eFpublishing direction and range infoy\^is.ؿ{{^?{.MZ?Y^3A\^<^F^Z ^i)^3I^V->i^^Rο^@.?^6>^ϸ? ^>)^@I^\\^Tv3?{$.l? ^t)^III^@i^\\%Ʀ@%g-@%>ٱ%8 5AHRS rotation from veh to nav: [[-0.899816,-0.411207,-0.145737],[0.411501,-0.910930,0.029548],[-0.144907,-0.033383,0.988882]]%H@K9Qڿ¿ V?@W& A?P¿`?i%Ʀ@I%O^;%C=checking for new query: numPingsReceived=115, elapsed TxPingTime=54.549610YeVrBymIIu=)uy]]9YY Y)]ZAYY]JAbDVDkyz!<%=ٔhYQ->9Y=\Fyi,<E>Q 5v4\?Q 9v4V)[BY >Q E 8;y k@Q I ?>]CI;iU;v4)y1ɮ5RA1B>BBvIBiqBBBBB ;B<:Ei\i^&?AJi^XARi^XAji^@b^ȎC#SsDk4@1;A"@R^is.ؿ{{^?{.MZ?Zi^@bi^j^Jcِ6* q#@Z^@Q\>db-۲?2i^,:i^"i^W?*i^K Bi^Bi^W?i^K i^xBi^uAi^@5 addTargetRange:: Added new target pos. range: 24.900000 m, deltaT: 0.514567 s, deltaX: 0.299999 m, approachRate: 0.583013 m/s, rangeRepo size: 4 e Added new target pos. range: 24.793188 m, bearing: 266.796852 deg, lat: 36.779369 deg, lon: -121.859541 deg, deltaT: 0.514567 s, deltaX: 0.298712 m, approachRate: 0.580511 m/s, posRepo size: 4 mDNOT Ignoring new targets: 24.79 m.hihi*hi"hi higqfqfqfuBdydyjd}`f8@Zd} mU?Z>Z>Z)ն@Zk@>) i9)۶iMchecking for new query: numPingsReceived=115, elapsed TxPingTime=54.739006iIMvIIIQY 9@  @ @ /@ ԉ Eu 8 Eq Eq Eq "Eu n;*Eq VEq ZEq BEu ݾ,_bC?Av @vh.@v>ٱv? -AHRS rotation from veh to nav: [[-0.902479,-0.405375,-0.145609],[0.405745,-0.913542,0.028504],[-0.144574,-0.033356,0.988932]]vH@ٿN¿?;@!0? j¿S?iv @Iv5^;vCY=srBy=IIbDUVDU1ye۬=%ev=ٔepQ-m?9iYi=u\Fyqu<Eu ?yQ 5v4}3?Q 9v4}L)}[BYy@DDAT read: Rx Time:04:02:35.8347 TRx dataTimestamp_ set to:1761537757.104781PDAT read: Bearing 69.1, 61.3 (Local) ~Local bearing/azimuth received: Bearing 69.1, 61.3 (Local) DAT read: Range 11 to 50 : 24.9 m (trip time 16.6 ms) speed -0.3 DAT read: 04:02:35.8347 LVL= 12848, 13873, 20626, 23795, AGC= 50, IDX= 503, 0.08, 2.664, 2.419, 1.026, 2.595, PHS= 0.171,-0.131,-1.614, RAW= 39.1, 18.6, CAL= 35.4, 21.5, ROT= 114.6, -21.5 Ygot valid direction response: 04:02:35.8347 LVL= 12848, 13873, 20626, 23795, AGC= 50, IDX= 503, 0.08, 2.664, 2.419, 1.026, 2.595, PHS= 0.171,-0.131,-1.614, RAW= 39.1, 18.6, CAL= 35.4, 21.5, ROT= 114.6, -21.5  V#Rx 116: Read range and direction messages.^direction in FSK: [-0.387315,0.845969,0.366501]Fpublishing direction and range infoyk ؿ.?ѨCt?Y0216P \)2I/>i$οR.?2+? 7 >)j@I7 Q I?}U]CI}EY ?*i BiBi>Y ?ixpG iBiAi,@ addTargetRange:: Added new target pos. range: 24.900000 m, deltaT: 0.499990 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 24.793272 m, bearing: 267.089086 deg, lat: 36.779370 deg, lon: -121.859541 deg, deltaT: 0.499990 s, deltaX: 0.000084 m, approachRate: 0.000168 m/s, posRepo size: 4 DNOT Ignoring new targets: 24.79 m.hh*h"h hgffAfAdAdAjdIZdM M?ZZZZx@>) iχ9)GiipIIy G9a9@ @@1@x^9YJA^AuwIIOa>ԡE checking for new query: numPingsReceived=116, elapsed TxPingTime=55.243031 \,/]?AEMy @En.@El>ٱE AHRS rotation from veh to nav: [[-0.905132,-0.399505,-0.145365],[0.399950,-0.916126,0.027443],[-0.144136,-0.033299,0.988997]]EH ٿN¿`ɘ?@P ?` s¿ ޥ?iEMy @IEU[^;ECY}rBy IԱbDVD:2y<%E=ٔ닺Q->9Y=\Fy3~<E>Q 5v4|?Q 9v4)[BYy? @Q I?t]CI:i:v4yɮ'RAE' EE)E"E _;*E:VEFA4ZEa%@a%@a%@a%@DNOT Ignoring new targets: 24.79 m.hh*h"h hgfffddjdZd0E?ZZZZ? @l>) Mi%9)!%IiIiYY]kIYIaDDAT read: Rx Time:04:02:36.3349 TRx dataTimestamp_ set to:1761537757.613178 PDAT read: Bearing 69.7, 61.7 (Local) ~Local bearing/azimuth received: Bearing 69.7, 61.7 (Local) !@) @)@54@1@MhA@MhADAT read: Range 11 to 50 : 25.1 m (trip time 16.7 ms) speed -0.3 DAT read: 04:02:36.3349 LVL= 12896, 14065, 20866, 23715, AGC= 50, IDX= 505, 0.10,-2.759,-3.009, 1.883,-2.839, PHS= 0.182,-0.125,-1.605, RAW= 39.2, 18.3, CAL= 35.5, 21.2, ROT= 114.5, -21.2 Ygot valid direction response: 04:02:36.3349 LVL= 12896, 14065, 20866, 23715, AGC= 50, IDX= 505, 0.10,-2.759,-3.009, 1.883,-2.839, PHS= 0.182,-0.125,-1.605, RAW= 39.2, 18.3, CAL= 35.5, 21.2, ROT= 114.5, -21.2 V#Rx 117: Read range and direction messages.^direction in FSK: [-0.386628,0.848379,0.361625]%Fpublishing direction and range infoygaؿ+%?t>i$?YA`26Q \)I5^:>ipͿ%/?Ƈ>? q>)?Iq &??$UF$? h)(I?iqchecking for new query: numPingsReceived=117, elapsed TxPingTime=55.591354 ^A SwI I O >B B B IB qBB B B B ;B 2:EBaBaBaBaBaCeʝ 41 ] checking for new query: numPingsReceived=117, elapsed TxPingTime=55.747517 %,["w?A2W @2.@2e>ٱ2 :AHRS rotation from veh to nav: [[-0.907612,-0.393958,-0.145043],[0.394440,-0.918535,0.026654],[-0.143728,-0.033019,0.989066]]2H@( `6ٿ@Ȑ¿>?dy5%5@5NA5AA 1)5ZA1Y5GIAbDMVDM1y]a%]P=ٔ]Q-e>9aYa=m\Fyim~<Em>qQ 5}v4uw?Q 9}v4u,)u[BY}>Q E1;y<@Q I?u]CIu:iu:urv4yxBɮQAEiiO>g?AJiARiAjiJ@bRVVS#vkg35@b"@Rgaؿ+%?t>i$?Zi?biqj)"1*O 79SOhA#@Z̯;PPڡ?2i^:id"igp,?*iY Bi|BiiK iiAi \@ addTargetRange:: Added new target pos. range: 25.100000 m, deltaT: 0.508397 s, deltaX: 0.200001 m, approachRate: 0.393395 m/s, rangeRepo size: 4  Added new target pos. range: 24.992392 m, bearing: 267.778671 deg, lat: 36.779370 deg, lon: -121.859541 deg, deltaT: 0.508397 s, deltaX: 0.199120 m, approachRate: 0.391662 m/s, posRepo size: 4 DNOT Ignoring new targets: 24.99 m.hh*h"h hg!f)fqfuʁBdydyjd}9@Zd}4E?Z>Z>Z8m@Z<@e>) i09)A!iifIIE0 EE.E"EJg;*E:VEـ4ZEBEihͿ|0?>W? f>)BY?Ifܢ.?aI*(J? )WFIBY?if=checking for new query: numPingsReceived=118, elapsed TxPingTime=56.018108^AEB>lIIYIaOu>ԉ ,א?A2+ٱ2 :AHRS rotation from veh to nav: [[-0.909923,-0.388678,-0.144805],[0.389199,-0.920790,0.025895],[-0.143400,-0.032795,0.989121]]2H@ؿ¿?w P?@Z¿`ʠ?i2+9xYx=z\Fyxz7u<E~>Q 5v4r?Q 9 v4)[BY y @Q I ?]CI:i:v4yɮQAii"R?AJiRiji@b~4# <0>C5@¶!@R8AdoؿLO:?.*?ZiBY?bifjJjӟ7S#@Zw頿NU(-m?2i:iVS"i--?*i BiPBi&?i i|Bi׸Ai@ addTargetRange:: Added new target pos. range: 25.100000 m, deltaT: 0.501210 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 24.992392 m, bearing: 267.952008 deg, lat: 36.779371 deg, lon: -121.859541 deg, deltaT: 0.501210 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 24.99 m.hh*h"h hgfffd d jd Zd ?ZIZIZIZMߜ@quY>) وi9)額0ii bIIchecking for new query: numPingsReceived=118, elapsed TxPingTime=56.251099m9@i @i@m/@iԩD5=D54=E=# E=!E=,E9"E=[;*E=:VE=g4ZE9aE@aE@aE@aE@^AjIIO> DDAT read: Rx Time:04:02:37.3350  TRx dataTimestamp_ set to:1761537758.620879 PDAT read: Bearing 70.7, 62.2 (Local)  ~Local bearing/azimuth received: Bearing 70.7, 62.2 (Local) M DAT read: Range 11 to 50 : 25.2 m (trip time 16.8 ms) speed -0.3 .,崪?AbDAT read: 04:02:37.3350 LVL= 12480, 12433, 23330, 24019, AGC= 48, IDX= 506, 0.29, 0.871, 0.616,-0.774, 0.781, PHS= 0.192,-0.120,-1.599, RAW= 39.4, 18.0, CAL= 35.6, 20.9, ROT= 114.4, -20.9 fYgot valid direction response: 04:02:37.3350 LVL= 12480, 12433, 23330, 24019, AGC= 48, IDX= 506, 0.29, 0.871, 0.616,-0.774, 0.781, PHS= 0.192,-0.120,-1.599, RAW= 39.4, 18.0, CAL= 35.6, 20.9, ROT= 114.4, -20.9 jV#Rx 119: Read range and direction messages.e^direction in FSK: [-0.385924,0.850765,0.356738]mFpublishing direction and range infoyp'ؿ]w9?O?YA00"[ ])0ID>i̿x 0?|٠>? ú>)r?IúTW7?ڠE$??  )?Ir?iú!@/@v>checking for new query: numPingsReceived=119, elapsed TxPingTime=56.609333ٱ uAHRS rotation from veh to nav: [[-0.912265,-0.383135,-0.144847],[0.383833,-0.923085,0.024227],[-0.142988,-0.033495,0.989157]]HE1 JؿX¿ැ? Ϙ?`qM¿@O&-?i!@IF^;CYqrByIIiMb@Mb@Mb@ 9m?#~jĿT㥛 Yn>y5PA&CA -:A)[AY=JAbDVDBU>BQBUIBUqBBQBQBQBU;BU-:Eym1u%m=ٔuQQ-u>9qYq=}\Fyy}:<E}>Q 5v4l?Q 9v4r)j[BYՔ>Q E6;y@Q I?]CI :i: v4yuBɮQAEii{?AJiARiAji}@bᕘ]#nL6SX5@w+ !@Rp'ؿ]w9?O?Zir?biúj gϟJ347/ #@Z~Og- Иa&J?2i:i8$"i"6?*i BiDBigp,?iiiɹAit@- addTargetRange:: Added new target pos. range: 25.200001 m, deltaT: 0.506491 s, deltaX: 0.100000 m, approachRate: 0.197438 m/s, rangeRepo size: 4 ] Added new target pos. range: 25.091944 m, bearing: 268.416514 deg, lat: 36.779371 deg, lon: -121.859541 deg, deltaT: 0.506491 s, deltaX: 0.099552 m, approachRate: 0.196553 m/s, posRepo size: 4 eDNOT Ignoring new targets: 25.09 m.haha*ha"ha hagifififmBdqdqjdu@339@ZduW?ZՔ>ZՔ>Z͞@Z@v>)  =checking for new query: numPingsReceived=119, elapsed TxPingTime=56.758057i=9)Y]DYiYiaae]IaIi qqIq)qyI)gAU9@Q @Q@Q@Q@]=@]=ԩ EE " EE EE -EA "EE Z;*EE &:VEE t4ZEA BEE v\,ŷ?AF!@F/@F>ٱF=~DDAT read: Rx Time:04:02:37.8350 ~TRx dataTimestamp_ set to:1761537759.120801PDAT read: Bearing 71.0, 62.3 (Local)  ~Local bearing/azimuth received: Bearing 71.0, 62.3 (Local) DAT read: Range 11 to 50 : 25.2 m (trip time 16.8 ms) speed -0.3 =DAT read: 04:02:37.8350 LVL= 13376, 12529, 22770, 25027, AGC= 48, IDX= 506, 0.34,-0.653,-0.909,-2.291,-0.743, PHS= 0.192,-0.121,-1.592, RAW= 39.5, 18.0, CAL= 35.7, 20.9, ROT= 114.3, -20.9 EYgot valid direction response: 04:02:37.8350 LVL= 13376, 12529, 22770, 25027, AGC= 48, IDX= 506, 0.34,-0.653,-0.909,-2.291,-0.743, PHS= 0.192,-0.121,-1.592, RAW= 39.5, 18.0, CAL= 35.7, 20.9, ROT= 114.3, -20.9 MV#Rx 120: Read range and direction messages.U^direction in FSK: [-0.384439,0.851437,0.356738]UFpublishing direction and range infoy|~pτؿ}$u>?O?Y||~@4~0~X ~a)|I|i~~˿~|0?|~W? |)~BY?I|||~xw?˂2%e#? ~ﳿ)~PI~BY?i|||T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with 120 pings in terminal homing one-way mode. AHRS rotation from veh to nav: [[-0.914266,-0.378262,-0.145037],[0.379143,-0.925062,0.022603],[-0.142718,-0.034324,0.989168]]FHAq5ؿ¿@C?O%?@D¿C?iF!@IF5^;DY]rBy II <) =bDVD1!yMJ%MU=ٔM :Q-M>9QYQ=U\FyQ]}[<E]>Q 5v4g?Q 9v4)E[BYy9@Q I?]CI:i1:v4yɮ4RAi|i~4Ƿ?AJi|Ri|ji~D@b~vJ#<]5@w+ !@R~pτؿ}$u>?O?Zi~BY?bi|j~&@j9UX77"@Z~ rܖV#Drk9?2i~:i~k"i~ؠ8?*i~ȳBi~-Bi~--?i~ i~PBi~Ai~Bו@ addTargetRange:: Added new target pos. range: 25.200001 m, deltaT: 0.499922 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 25.091944 m, bearing: 268.617781 deg, lat: 36.779371 deg, lon: -121.859541 deg, deltaT: 0.499922 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 25.09 m.hh*h"h hgfffddjdZd@ı?Z1Z1Z1Z59@m>)q }}i9)顭KVii$YIIIe9@a @i@m/@i2Acoustic response timeouty ^A ]I) ԩ I O >,෻?ARC"@R80@RZ>ٱR fAHRS rotation from veh to nav: [[-0.916180,-0.373534,-0.145213],[0.374601,-0.926949,0.020969],[-0.142438,-0.035186,0.989178]]RH`XQ׿ [¿ v?x?`j;¿X?iRC"@IR&R^;PYnMrBynIE~% E~%E~*E|"E~O];*E~;VE~(N4ZE|a@a@a@a@bDvVDvy|5%c=ٔ4MQ->9Y=\Fy}`<E>Q 5v4c?Q 9v4ɣ)%[BYy@Q I?^CIU;i V;Nv4yɮuRA%DNOT Ignoring new targets: 25.09 m.h)h)*h1"h1 h1g1f9f9f9dAdAjdQZdU@!?ZZZZ@Z>) i_9)顝;fii MUTIIIQDDAT read: Rx Time:04:02:38.3352 TRx dataTimestamp_ set to:1761537759.624810PDAT read: Bearing 70.6, 62.3 (Local) ~Local bearing/azimuth received: Bearing 70.6, 62.3 (Local) DAT read: Range 11 to 50 : 25.5 m (trip time 17.0 ms) speed -0.2 uDAT read: 04:02:38.3352 LVL= 12448, 13281, 21938, 23539, AGC= 49, IDX= 508, 0.27, 1.185, 0.916,-0.463, 1.093, PHS= 0.195,-0.132,-1.600, RAW= 39.8, 18.2, CAL= 36.0, 21.0, ROT= 114.0, -21.0 Ygot valid direction response: 04:02:38.3352 LVL= 12448, 13281, 21938, 23539, AGC= 49, IDX= 508, 0.27, 1.185, 0.916,-0.463, 1.093, PHS= 0.195,-0.132,-1.600, RAW= 39.8, 18.2, CAL= 36.0, 21.0, ROT= 114.0, -21.0 R#Rx 1: Read range and direction messages.%^direction in FSK: [-0.379721,0.852868,0.358368]-Fpublishing direction and range infoy) [MؿܔJ?.*?YA03U [)1IG>i+̿1?>| ? f>)?Ifq ?4Ny ? 5)3ZI?if 2Acoustic response timeout Querying Benthos address 50 with 120 pings in terminal homing one-way mode.1=9@A @A@A@A^A  `YII)O5q>BM >BI BM IBM qBBI BI BI BM 1;BM L:Ea = 2Acoustic response timeoutJ,P?A0Y~OrBy~IiMb@Mb@Mb@ 9Cl?X9v~jtYO>ydOAVBA X9A)ZAYGIA p<bDVD:y;%5=ٔQ->9Y= \Fy  E >Q 5w4^?Q 9w4)ZBY%>Q E%T;y% @Q I%?!^CI:if:w4y)ɮ5kRA1ii緻?AJi ARi Aji@bJ#cH#cZM>ZMŃ@ZM϶ @Y)a ia9)顕xiiUIIDDAT read: Rx Time:04:02:38.8352 TRx dataTimestamp_ set to:1761537760.128815PDAT read: Bearing 70.9, 62.4 (Local) ~Local bearing/azimuth received: Bearing 70.9, 62.4 (Local) DAT read: Range 11 to 50 : 25.5 m (trip time 17.0 ms) speed -0.2 DAT read: 04:02:38.8352 LVL= 12624, 11489, 20194, 22835, AGC= 49, IDX= 508, 0.17, 0.805, 0.534,-0.845, 0.710, PHS= 0.198,-0.131,-1.599, RAW= 39.9, 18.1, CAL= 36.1, 20.9, ROT= 113.9, -20.9 Ygot valid direction response: 04:02:38.8352 LVL= 12624, 11489, 20194, 22835, AGC= 49, IDX= 508, 0.17, 0.805, 0.534,-0.845, 0.710, PHS= 0.198,-0.131,-1.599, RAW= 39.9, 18.1, CAL= 36.1, 20.9, ROT= 113.9, -20.9 R#Rx 1: Read range and direction messages.^direction in FSK: [-0.378485,0.854100,0.356738]Fpublishing direction and range infoy_ 9ؿeT?O?YP1,N 3Y)IJ>i$̿aF2??>K!? ú>)~t?IúT9N?uߘ? )߽I~t?iú%2Acoustic response timeout%Querying Benthos address 50 with 120 pings in terminal homing one-way mode.=9@A @A@E/@A@I@I ^A] KYIi Iy O >,I*?A2"@20@2ٱ2C  :AHRS rotation from veh to nav: [[-0.919424,-0.365318,-0.145609],[0.366602,-0.930186,0.018894],[-0.142346,-0.036009,0.989162]]2H k`_a׿P¿`hv?`X?a8¿o6?i2"@I2b^;0Y^8rBybI ``bDjVDjNly-)%-m=ٔ5_Q-5?91Y1=5\Fy9=D<E=?AQ 5Mw4EZ?Q 9Mw4Eڟ)EZBYQyUC @Q IU?E5^CIE:iE|:Ew4yYɮ]RAaii>?AJiRiji>@bNjQ8#nŞ5@re"@R_ 9ؿeT?O?Zi~t?biújtEFٿ=+7c,#@Z\[kĥHV@?2i1:iϾ"i8?*i Bi4Bi"6?i iDBiJAi5@ addTargetRange:: Added new target pos. range: 25.500000 m, deltaT: 0.504005 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 25.390688 m, bearing: 269.012221 deg, lat: 36.779372 deg, lon: -121.859541 deg, deltaT: 0.504005 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 25.39 m.hh*h"h hgfffddjdZd?2Acoustic response timeoutZZZZC @) i9)8ii!!%2MI!I)9@ @@4@^ArWIIO*>bEg4jEb4rEp/E EE,E"EQ;*E:VEg4ZEa-@a-@a-@a-@9 DDAT read: Rx Time:04:02:39.3354  TRx dataTimestamp_ set to:1761537760.636957 PDAT read: Bearing 70.5, 62.4 (Local)  ~Local bearing/azimuth received: Bearing 70.5, 62.4 (Local) = DAT read: Range 11 to 50 : 25.8 m (trip time 17.2 ms) speed -0.2 i  DAT read: 04:02:39.3354 LVL= 12880, 13105, 22690, 23507, AGC= 49, IDX= 510, 0.01, 1.819, 1.541, 0.175, 1.725, PHS= 0.195,-0.139,-1.595, RAW= 40.1, 18.3, CAL= 36.3, 21.1, ROT= 113.7, -21.1  Ygot valid direction response: 04:02:39.3354 LVL= 12880, 13105, 22690, 23507, AGC= 49, IDX= 510, 0.01, 1.819, 1.541, 0.175, 1.725, PHS= 0.195,-0.139,-1.595, RAW= 40.1, 18.3, CAL= 36.3, 21.1, ROT= 113.7, -21.1  R#Rx 1: Read range and direction messages. ^direction in FSK: [-0.374999,0.854271,0.359997] Fpublishing direction and range infoy  iu׿~/V?z0 ?Y fA P2 13 X [) I G>i V (̿ $+3? Ƈ> 0"? )>) ?I ) U0_S?T{p"? |) H9I ?i ) 5 2Acoustic response timeout ,.?A: #@:w1@:>ٱ:J BAHRS rotation from veh to nav: [[-0.920719,-0.361933,-0.145878],[0.363224,-0.931515,0.018638],[-0.142634,-0.035826,0.989127]]:H@v)׿$¿???A¿ W?i: #@I:LC^;:CYN3rByNIQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.9iMb@Mb@Mb@ 9/$?KMbX9Y,>y^ʡNA@A )bXAYQHAbDVD:y#%==ٔ t0:Q- >9 Y =5\Fy158 <E5>9Q 5Ew4=V?Q 9Ew4=2)=ZBYMS>Q EM;yMF@Q IM?=J^CI=U:i=;==$w4yqɮ}RAyii(?AJiARiAjic:@bڂaXD#=؂5@ 7"@BBBIB}qBBBBB2;BM:ERiu׿~/V?z0 ?Zi?bi)jqۿ|7"Ђx#@Z~TԐ[śGβ@?2i':i/ؾ"iQ@3?*is^eBiBiiiiɼAiF@m addTargetRange:: Added new target pos. range: 25.799999 m, deltaT: 0.508142 s, deltaX: 0.299999 m, approachRate: 0.590385 m/s, rangeRepo size: 4 } Added new target pos. range: 25.689400 m, bearing: 268.982323 deg, lat: 36.779372 deg, lon: -121.859541 deg, deltaT: 0.508142 s, deltaX: 0.298712 m, approachRate: 0.587851 m/s, posRepo size: 4 }DNOT Ignoring new targets: 25.69 m.hh*h"h hgfffBddjd9@Zdf?ZS>ZS>Z)-@Z)F@%>)) - i-9))-k)i)i11==KI9I9a 2Acoustic response timeout@ @@4@ԡ^A ;VI I O >EE  EE EE )EA "EE M;*EE ]:VEE FA4ZEA BEE PDAT read: Bearing 69.9, 62.5 (Local) >~Local bearing/azimuth received: Bearing 69.9, 62.5 (Local) FDAT read: Range 11 to 50 : 25.8 m (trip time 17.2 ms) speed -0.1 VDAT read: 04:02:39.8354 LVL= 13472, 13249, 21042, 23795, AGC= 50, IDX= 510,-0.28, 0.736, 0.444,-0.905, 0.641, PHS= 0.197,-0.152,-1.590, RAW= 40.6, 18.4, CAL= 36.7, 21.3, ROT= 113.3, -21.3 ^Ygot valid direction response: 04:02:39.8354 LVL= 13472, 13249, 21042, 23795, AGC= 50, IDX= 510,-0.28, 0.736, 0.444,-0.905, 0.641, PHS= 0.197,-0.152,-1.590, RAW= 40.6, 18.4, CAL= 36.7, 21.3, ROT= 113.3, -21.3 ^R#Rx 1: Read range and direction messages.b^direction in FSK: [-0.368526,0.855708,0.363251]bFpublishing direction and range infoy46Y׿ٚa?+=??Y44646362R 6\)62I6^I>i66˿6 g5?6l>6(#? 6V>)6Y?I6V446_?kt\<7? 6ZX)6ߏI6Y?i6V44n2Acoustic response timeoutrQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.ԙW@#@51@>ٱ AHRS rotation from veh to nav: [[-0.921790,-0.359108,-0.146101],[0.360367,-0.932624,0.018687],[-0.142968,-0.035425,0.989093]]HLֿ`p¿??@ @"?L¿0#?iW@#@I3^;CY'rByIbDVDN2y%@=ٔO:Q->9Y=\FyB;E>Q 5w4R?Q 9w4)}ZBYyy@Q I?]^CIF:i:3w4yɮSAi4i6H?AJi4Ri4ji6@b69$7"5@/ԩ"@R6Y׿ٚa?+=??Zi6Y?bi6Vj68ikyy"78#@Z6ҵ'B[%c€,m?2i6:i6"i6u*&?*i6X Bi6Bi6Q@3?i64 i6aBi6|Ai6 J@ addTargetRange:: Added new target pos. range: 25.799999 m, deltaT: 0.499611 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 25.689392 m, bearing: 268.719261 deg, lat: 36.779372 deg, lon: -121.859541 deg, deltaT: 0.499611 s, deltaX: -0.000008 m, approachRate: -0.000015 m/s, posRepo size: 4 DNOT Ignoring new targets: 25.69 m.hh *h "h  h g f ffddjdZdھ?Z9Z9Z9Z=7y@}>) pik9)顭ii³HII2Acoustic response timeout M9 9@  @ @ _0@ @ =@ =Q D1 zD5 @AiEm EmEm,Ei"EmO;*Em:VEmg4ZEiau@a}@a}@a}@^AJII!O5>y,Qg?ANDDAT read: Rx Time:04:02:40.3355 RTRx dataTimestamp_ set to:1761537761.640724VPDAT read: Bearing 70.1, 62.6 (Local) V~Local bearing/azimuth received: Bearing 70.1, 62.6 (Local) nDAT read: Range 11 to 50 : 26.0 m (trip time 17.3 ms) speed -0.1 DAT read: 04:02:40.3355 LVL= 13872, 16161, 21858, 24131, AGC= 51, IDX= 511, 0.18,-1.374,-1.670,-3.026,-1.473, PHS= 0.200,-0.152,-1.598, RAW= 40.7, 18.4, CAL= 36.8, 21.3, ROT= 113.2, -21.3  Ygot valid direction response: 04:02:40.3355 LVL= 13872, 16161, 21858, 24131, AGC= 51, IDX= 511, 0.18,-1.374,-1.670,-3.026,-1.473, PHS= 0.200,-0.152,-1.598, RAW= 40.7, 18.4, CAL= 36.8, 21.3, ROT= 113.2, -21.3 Y5rBy5IR#Rx 1: Read range and direction messages.I %=) =!-^direction in FSK: [-0.367032,0.856350,0.363251]5Fpublishing direction and range infoyLN8t}׿w8g?+=??YNALi%AN06N!?NbU NC^)N3INL>iLND̿No5?LbDVDy {%!=Nl$? L)N'?ILLLN)I[p?ƍbZB+?ٔQ->9!Y!=%\Fy!%E->)Q 55w4-M?Q 95w4- NgH)N$IN'?iLLLE2Acoustic response timeoutEQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.)-FZBYyQ I?-v^CI-fBBcIBJqBBBBB';BB:EZaZaZaZa) i%9)顝Niii ,?A6#@61@6Q>ٱ6 RAHRS rotation from veh to nav: [[-0.923678,-0.353726,-0.147298],[0.355098,-0.934660,0.017768],[-0.143958,-0.035894,0.988933]]6HŎqֿ¿ ?`@1?7m¿`V?i6#@I6;^;4Y^rBybIE EE+E"EL;*E:VE [4ZEBEޡEEyj<7MA 8A)VAY\GAbD VD:2y%,%%R=ٔ%);Q-->9)Y)=-\Fy)5/<E5>9Q 5Ew4=J?Q 9Ew4=)='ZBIYE>Q EM;yM@Q IM?=^CI=,3;i=R2;=cRw4yQɮ]zSAYDNOT Ignoring new targets: 25.89 m.5DDAT read: Rx Time:04:02:40.8355 5TRx dataTimestamp_ set to:1761537762.144966=PDAT read: Bearing 70.2, 62.6 (Local) E~Local bearing/azimuth received: Bearing 70.2, 62.6 (Local) UDAT read: Range 11 to 50 : 26.0 m (trip time 17.3 ms) speed 0.0 uDAT read: 04:02:40.8355 LVL= 13936, 13137, 23282, 24883, AGC= 50, IDX= 511,-0.22, 1.795, 1.499, 0.156, 1.698, PHS= 0.199,-0.154,-1.586, RAW= 40.8, 18.4, CAL= 36.9, 21.3, ROT= 113.1, -21.3 }Ygot valid direction response: 04:02:40.8355 LVL= 13936, 13137, 23282, 24883, AGC= 50, IDX= 511,-0.22, 1.795, 1.499, 0.156, 1.698, PHS= 0.199,-0.154,-1.586, RAW= 40.8, 18.4, CAL= 36.9, 21.3, ROT= 113.1, -21.3 R#Rx 1: Read range and direction messages.^direction in FSK: [-0.365537,0.856990,0.363251]Fpublishing direction and range infoy15҅Cd׿0ul?+=??Y115p65Q35Z 53a)52I5K>i5-5 ˿5K6?15$? 1)5?I111hh*h"h hgfffUBddjdZd ?5CL?0dA 5? 5v)5xI5?i1112Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.Z >Z >Z vA@Z @EQ>)A EiE9)IMIiIiQQUNCIQIyG 9@  @ @ 0@ -69)Y-&Aԡ^A5 IIA IQ Oe > 2Acoustic response timeout &,[?Ae #@e1@e9}>ٱes AHRS rotation from veh to nav: [[-0.925046,-0.349171,-0.149563],[0.350897,-0.936285,0.015562],[-0.145468,-0.038086,0.988630]]eHXֿ$ÿu? ޏ?¿`ڢ?ie #@IeI^;eCYrBybDVD0y oT;%L=ٔy;Q->9Y=\Fy%6<E%>!Q 5-w4%G?Q 95w4%ʘ)%ZBYyG@Q I?%^CI%d)Q ]i]9)Ye!aiaiqq}&@IyII)E$ E E&E"Eg\;*E:VE4ZEa@a@a@a@%9@! @!@%/@)@1@1^ACI I)UDDAT read: Rx Time:04:02:41.3355 ]TRx dataTimestamp_ set to:1761537762.650262ePDAT read: Bearing 69.5, 62.5 (Local) e~Local bearing/azimuth received: Bearing 69.5, 62.5 (Local) uDAT read: Range 11 to 50 : 26.0 m (trip time 17.3 ms) speed 0.0 DAT read: 04:02:41.3355 LVL= 13424, 14385, 22770, 25299, AGC= 51, IDX= 511, 0.07,-2.959, 3.013, 1.673,-3.059, PHS= 0.202,-0.166,-1.595, RAW= 41.2, 18.5, CAL= 37.2, 21.5, ROT= 112.8, -21.5 Ygot valid direction response: 04:02:41.3355 LVL= 13424, 14385, 22770, 25299, AGC= 51, IDX= 511, 0.07,-2.959, 3.013, 1.673,-3.059, PHS= 0.202,-0.166,-1.595, RAW= 41.2, 18.5, CAL= 37.2, 21.5, ROT= 112.8, -21.5 R#Rx 1: Read range and direction messages.^direction in FSK: [-0.360551,0.857718,0.366501]Fpublishing direction and range infoyQUE׿Tlr?ѨCt?YQQUp4U18UX Ub)U3IUN>iU)U(̿UX8?UMQ>U6&? U7 >)Ud?IU7 QQUS$?8~4VW? U)U؜IUd?iU7 QQM2Acoustic response timeoutOmx>Querying Benthos address 50 with 120 pings in terminal homing one-way mode. B B B WIB 6qBB B B B >;B Y:EBaBaBaBaBaCefa49 N,,@?AYrByI !!2Acoustic response timeoutiMb@Mb@Mb@ 9A`"?y&1A`"Y=y`弙Y?A 6A)bXAY3GAbDVDk1y<%M=ٔQ->9Y=\FyE>Q 5w4E?Q 9w4")YBYd=Q E ;y @Q I ?^CI:i/:Pnw4yɮSSAii坩?AJiRiji@bO"'{46@"@RE׿Tlr?ѨCt?Zid?bi7 jڡ6jCx7#@ZTIFЕn R+t?2iW:i "ibC?*i< BiЌBi"&?iiBi̿AieN@e addTargetRange:: Added new target pos. range: 26.000000 m, deltaT: 0.505296 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 u Added new target pos. range: 25.888475 m, bearing: 268.711621 deg, lat: 36.779371 deg, lon: -121.859542 deg, deltaT: 0.505296 s, deltaX: -0.000036 m, approachRate: -0.000072 m/s, posRepo size: 4 }DNOT Ignoring new targets: 25.89 m.hyhy*hy"hy hygfffTBddjdZd ?Zd=Zd=Z@@Zʵ@) ̄iK9)Wii@@IIԱ9@ @@/@Eu Eu&Eu+Eq"Eu&U;*Eu;VEu [4ZEqBEuU DDAT read: Rx Time:04:02:41.8354 U TRx dataTimestamp_ set to:1761537763.152675] PDAT read: Bearing 69.6, 62.7 (Local) e ~Local bearing/azimuth received: Bearing 69.6, 62.7 (Local) u DAT read: Range 11 to 50 : 25.8 m (trip time 17.2 ms) speed 0.0  DAT read: 04:02:41.8354 LVL= 15168, 16769, 22578, 23267, AGC= 50, IDX= 510, 0.26, 3.106, 2.785, 1.439, 2.996, PHS= 0.212,-0.166,-1.601, RAW= 41.4, 18.4, CAL= 37.4, 21.3, ROT= 112.6, -21.3  Ygot valid direction response: 04:02:41.8354 LVL= 15168, 16769, 22578, 23267, AGC= 50, IDX= 510, 0.26, 3.106, 2.785, 1.439, 2.996, PHS= 0.212,-0.166,-1.601, RAW= 41.4, 18.4, CAL= 37.4, 21.3, ROT= 112.6, -21.3  R#Rx 1: Read range and direction messages. ^direction in FSK: [-0.358045,0.860147,0.363251] Fpublishing direction and range infoyQ U M3ֿQϺR?+=??YU fAQ U @;U AU 2X U Z)U 2IU Y>iQ U ̿U 8?U l>U '? U V>)U ?IU VQ Q U w(Ji?i[^h(? U  )U ;IU ?iU VQ Q  2Acoustic response timeout Querying Benthos address 50 with 120 pings in terminal homing one-way mode.3,и?A2 $@22@22>ٱ2k >AHRS rotation from veh to nav: [[-0.925804,-0.346764,-0.150471],[0.348606,-0.937152,0.014820],[-0.146153,-0.038735,0.988503]]2H 0a1ֿBÿ@O?&Y? #¿@գѡ?i2 $@I2bn^;0YRrByVIlbDfVDfy%V%-X=ٔ-g:Q-->91Y1=5\Fy15;E5>YQ 5ew4]|B?Q 9mw4])]YBYiym@Q Im?]^CI]:i]:]{w4yqɮSAiimɸ?AJiARiAji@bT Ve"E*6@u-ҩ"@RM3ֿQϺR?+=??Zi?biVj"U7l#@ZHߝJE2?2i5:i "iDg?*iB^BinBiHB?i< iiAi4@m addTargetRange:: Added new target pos. range: 25.799999 m, deltaT: 0.502413 s, deltaX: -0.200001 m, approachRate: -0.398080 m/s, rangeRepo size: 4  Added new target pos. range: 25.689333 m, bearing: 268.672510 deg, lat: 36.779370 deg, lon: -121.859542 deg, deltaT: 0.502413 s, deltaX: -0.199142 m, approachRate: -0.396372 m/s, posRepo size: 4 DNOT Ignoring new targets: 25.69 m.hh*h"h hgfffddjd9@Zdkz?ZZZZf@-2>)) -3iMi9)QUQiQiYY]q>IYIY aaIa)a 2Acoustic response timeoutE9@A @A@E/@I9^A- #@II Ia Ou >a E  E E ,E "E O;*E :VE g4ZE a @a @a @a @e DDAT read: Rx Time:04:02:42.3355 e TRx dataTimestamp_ set to:1761537763.656687u PDAT read: Bearing 69.8, 62.6 (Local) u ~Local bearing/azimuth received: Bearing 69.8, 62.6 (Local)  DAT read: Range 11 to 50 : 26.0 m (trip time 17.3 ms) speed 0.0  DAT read: 04:02:42.3355 LVL= 14064, 16481, 22322, 23699, AGC= 51, IDX= 511, 0.40,-1.492,-1.809, 3.135,-1.600, PHS= 0.209,-0.164,-1.593, RAW= 41.3, 18.4, CAL= 37.4, 21.3, ROT= 112.6, -21.3  Ygot valid direction response: 04:02:42.3355 LVL= 14064, 16481, 22322, 23699, AGC= 51, IDX= 511, 0.40,-1.492,-1.809, 3.135,-1.600, PHS= 0.209,-0.164,-1.593, RAW= 41.3, 18.4, CAL= 37.4, 21.3, ROT= 112.6, -21.3  R#Rx 1: Read range and direction messages. ^direction in FSK: [-0.358045,0.860147,0.363251] Fpublishing direction and range infoya e M3ֿQϺR?+=??Ye Aa e 6e a@e 2W e \)e 3Ie V>ie 'e m˿e 8?a a a )a Ia a a cV:,[븻?A]90L?*V[H-? ͯ)U7Ii2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.LT$@`J2@$>ٱ AHRS rotation from veh to nav: [[-0.927099,-0.342797,-0.151583],[0.344528,-0.938648,0.015530],[-0.147607,-0.037826,0.988322]]H˪aտ`gÿ ?f ]Ώ?¿]`V?iT$@I8^;Y&rByIԹBA<B>BBBB =BBDBK;Bf:EiMb@Mb@Mb@ 9Zd;O? rhYj=y̼C LAp=A )UAYEAbDVDy}v=%}=ٔ});Q->9Y=\Fy:;E>Q 5w4 ??Q 9w4)YBYK=Q ED6@/Ւ'"@RM3ֿQϺR?+=??Zibijl|dݿ73Gߣ#@Zғ(hޡUٍF?2i:iC"i8?*i@ BiBi8?iiBiҿAi,@ addTargetRange:: Added new target pos. range: 26.000000 m, deltaT: 0.504012 s, deltaX: 0.200001 m, approachRate: 0.396817 m/s, rangeRepo size: 4  Added new target pos. range: 25.888399 m, bearing: 268.886823 deg, lat: 36.779369 deg, lon: -121.859542 deg, deltaT: 0.504012 s, deltaX: 0.199066 m, approachRate: 0.394963 m/s, posRepo size: 4 DNOT Ignoring new targets: 25.89 m.hh*h"h hgfff1Bdd 2Acoustic response timeoutjd :@Zd  &?ZK=ZK=ZA@ZRU@$>) iY9)ʷii3;IIi>i>m 9@i  @q @u /@y @ =@ = E  E E )E "E ,K;*E :VE FA4ZE BE MI I O >%B,y?AF$@Fu2@Fj>ٱF NAHRS rotation from veh to nav: [[-0.927908,-0.340363,-0.152118],[0.342046,-0.939551,0.015789],[-0.148296,-0.037381,0.988236]]FHkտxÿ`?*?`¿#?iF$@IFzP^;FCYV!rByVIbD`VD`yf%j=ihIhrDDAT read: Rx Time:04:02:42.8355 rTRx dataTimestamp_ set to:1761537764.161037vPDAT read: Bearing 69.3, 62.5 (Local) z~Local bearing/azimuth received: Bearing 69.3, 62.5 (Local) DAT read: Range 11 to 50 : 26.0 m (trip time 17.3 ms) speed 0.0 %DAT read: 04:02:42.8355 LVL= 14368, 14241, 22434, 25011, AGC= 51, IDX= 511,-0.49, 2.686, 2.362, 1.043, 2.582, PHS= 0.205,-0.176,-1.583, RAW= 41.7, 18.6, CAL= 37.7, 21.6, ROT= 112.3, -21.6 5Ygot valid direction response: 04:02:42.8355 LVL= 14368, 14241, 22434, 25011, AGC= 51, IDX= 511,-0.49, 2.686, 2.362, 1.043, 2.582, PHS= 0.205,-0.176,-1.583, RAW= 41.7, 18.6, CAL= 37.7, 21.6, ROT= 112.3, -21.6 5R#Rx 1: Read range and direction messages.=^direction in FSK: [-0.352809,0.860238,0.368125]=Fpublishing direction and range infoypr#nֿ1EM?{.MZ?Yppr 8r7rW ra)pIrQ>irX94rʿrAQ:?r6>rq(? r>)rp?Irٔu ;Q-u ?9qYy=}\Fyy}<E} ?Q 5w4pprUۖn?:Z?߼Mm? r)rVIrp?irpp2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.#=?Q 9w4;)YBYy@Q I?^CIT%) ik9) ҷii8I!I!Ա9@ @@/@^A:IIOi>2Acoustic response timeout *H,[A"?A2,$@2̜2@2>ٱ2i  :AHRS rotation from veh to nav: [[-0.928632,-0.338121,-0.152697],[0.339790,-0.940368,0.015833],[-0.148945,-0.037182,0.988146]]2H[ţտÿ ?@~y6?ÿ ?i2,$@I2|;^;2CYR-rByRIbDbVDb1yE<%MC=ٔM:Q-M>D]=D]<9iYi=m\Fyi};E}>Q 5w4:?Q 9w4)YBYy@Q I?^CI:i:w4yɮRADNOT Ignoring new targets: 25.89 m.hh*h"h hgfffE EE-E"EV;*E :VEt4ZEa@a@a@a@ddjdZd`?Z Z Z Z @>)! %i%o9)!%ٷ!i!i))-m6I)I19@ @@4@(DAT read: user:44> DAT read: 50 :unknown deviceResponse_: 50 DAT read: Ok %:unknown deviceResponse_: Ok %(DAT read: user:45> ]BDAT read: Tx time:04:02:43.7811 e$Ping request sent.eB B B ]IB @qBB B B B y;B :EI  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.241909TN,iٱ2H >AHRS rotation from veh to nav: [[-0.929549,-0.335197,-0.153567],[0.337021,-0.941381,0.014785],[-0.149521,-0.038012,0.988028]]2Hܾ@sտÿ? G?}#ÿFv@?i2|$@I2[^;2CYNZrByR Ii}Mb@Mb@Mb@yyyy y9}J +?{Gz{GzY}=y}#}ף} LAy }C5A)}VAyY}pEAbDVDJy9=%E=ٔ:Q->9Y=\Fy;E>Q 5w48?Q 9w4)YBY=Q E;y@Q I?^CI]:i#:w4yɮ(RADNOT Ignoring new targets: 25.89 m.hh*h"h hgff f ABd djdZd@?Z5=Z5=Z5B@Z5@Eu>)I MGiM9)IMIiIiQQ]QL4IYIYaQ9@ @@u4@@@Eu? Eu"Eu+Eq"Eut;*Eu;VEu [4ZEqBEuYԡ ٱ2 :AHRS rotation from veh to nav: [[-0.930534,-0.332093,-0.154336],[0.334027,-0.942459,0.013999],[-0.150105,-0.038526,0.987919]]2H AտKÿ`?(? 6ÿ?i2 %@I2}C^;2C@YFjrByFIbDNVDNyV'+=%V\=ٔZ:Q-Z>9XYX=Z\FyX^F <E^>`Q 5fw4b5?Q 9fw4b6)bxYBYdyj@Q Ij?b^CIb6:ib:bw4ynpBɮnQAlDNOT Ignoring new targets: 25.89 m.h h *h "h  h g f ffddjdZd|?ZZZZY@ZJ>) Ȁiї9)`ii$1II}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.7457999@ @@/@ԹbE [4jEU4rE(0E}" E}E},Ey"E}Z;*E}A:VE}g4ZEya@a@a@a@^A3IIO> = checking for new query: numPingsReceived=0, elapsed TxPingTime=1.000215hm[, o?Ah5LB%@573@5I>ٱ5 EAHRS rotation from veh to nav: [[-0.931598,-0.329011,-0.154521],[0.330909,-0.943559,0.014024],[-0.150414,-0.038067,0.987890]]5H տXÿ -?1ָ?@@ÿ}˜?i5LB%@I5=j^;5CYUsrByUIi Mb@Mb@Mb@     9 Cl?L7A`尿y&1Y ;=y + `e MA  6A) UA Y FAbD-VD-:y5@<%=3=ٔ=|3:Q-=>9AYA=E\FyAM;EM>IQ 5Uw4M2?Q 9]w4M)MkYBY]D>Q E];y]_@Q I]?M^CIM':iMs:Mw4yiɮmQAiDNOT Ignoring new targets: 25.89 m.hh*h"h hgfffbBAAB >BB|IBsqBB =BBB;B:EddjdZd?ZD>ZD>Z@Z_@I>) i@9)"ii   .I I}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249877@ @@@)^AU 1Y Ia E} ( E} E} *Ey "E} `;*E} :VE} (N4ZEy BE} S*Nb,T?Archecking for new query: numPingsReceived=0, elapsed TxPingTime=1.501673YvrByv;IbD~VD~Jy >% a=ٔ Q->9Y=\FyE>!Q 5-w4%g0?Q 9-w4%)%aYBY)y)Q I5?%^CI%:i%6:%w49y9ɮEPAAmDNOT Ignoring new targets: 25.89 m.hihi*hi"hi hqgqfqfqfqdydyjdyZd>O@ZZZZ) ؀ig9)顽iiC/IIU9@Q @Q@U/@Q^A-/I1IIOU>iԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.753744 zh,?Aɰ4ٱN nAHRS rotation from veh to nav: [[-0.933915,-0.322461,-0.154341],[0.324103,-0.945901,0.015112],[-0.150864,-0.035909,0.987902]]NH @5Կnÿ?D?@Oÿb?iNs%@IN8^;NCYvrByvAIbDVD:y<%J=ٔ6:Q->9Y=\Fy%<E%>)Q 5-w4--?Q 95w4- E= E=E=0E9"E=>T;*E=j:VE=4ZE9aE@aE@aM@aM@)-UYBYIyM@Q IM?-^CI-;i-;-w4y]nBɮ]PA]EDNOT Ignoring new targets: 25.89 m.hh*h"h hgfffԑddjdZd @ZZZZX@>) iٙ9)iil(II5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0467329@ @@/@"JFailed to parse device response: .81 ^A r.I I  O- > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257648fn,a?A2%@2~3@2>ٱ2T :AHRS rotation from veh to nav: [[-0.935214,-0.318839,-0.154000],[0.320375,-0.947165,0.015412],[-0.150778,-0.034925,0.987951]]2HFgԿ`Iÿ?-O2?`Lÿ᡿J?i2%@I2}R^;2CYBrByFQIbDNVDN:2yV=%VQ=ٔViQ-V>9XYX=Z\FyX^'<E^>Q 5 w4+?Q 9 w4)JYBYy@Q I? _CI:i:w4y9ɮ=8PAADNOT Ignoring new targets: 25.89 m.hh*h"h hgfffddjdZdB@ZZZZ@5>)9 =si=%9)9=9i9iAAE%IIIIEm! EmEm*Ei"EmY;*Em]:VEm(N4ZEi!y@y @y@}/@y DDAT read: Rx Time:04:02:45.9456  TRx dataTimestamp_ set to:1761537767.189399PDAT read: Bearing 68.0, 64.4 (Local) %~Local bearing/azimuth received: Bearing 68.0, 64.4 (Local) =DAT read: Range 11 to 50 : 26.4 m (trip time 17.6 ms) speed -0.1 ]DAT read: 04:02:45.9456 LVL= 12640, 12081, 22882, 23155, AGC= 51, IDX= 326, 0.06, 2.580, 2.169, 0.869, 2.405, PHS= 0.277,-0.191,-1.580, RAW= 44.0, 17.5, CAL= 39.7, 20.3, ROT= 110.3, -20.3 eYgot valid direction response: 04:02:45.9456 LVL= 12640, 12081, 22882, 23155, AGC= 51, IDX= 326, 0.06, 2.580, 2.169, 0.869, 2.405, PHS= 0.277,-0.191,-1.580, RAW= 44.0, 17.5, CAL= 39.7, 20.3, ROT= 110.3, -20.3 eR#Rx 1: Read range and direction messages.m^direction in FSK: [-0.325387,0.879636,0.346936]uFpublishing direction and range infoy  >$Կ!t%?Fv>{14?Y 3A  `1 1/ bY sZ) I ҍ>i C q=ʿ  D? a> a1?  g>) i?I  g    ? K@E? 򼩿) I i?i  g  ^A`=( g>%GI9QQchecking for new query: numPingsReceived=1, elapsed TxPingTime=2.532460iI`9Y uAO>y u,>׹?A2;&@214@2o>ٱ20 :AHRS rotation from veh to nav: [[-0.936501,-0.315158,-0.153758],[0.316662,-0.948416,0.015264],[-0.150637,-0.034395,0.987991]]2H`+Կ`Vÿ1D?kYB?Hÿ 1?i2;&@I2<^;2CY^rBy^mI ``bDjVDjyv=%vF=ٔzQ-z>9xYx=z\Fy|~<E~>Q 5 x4b(?Q 9 x4)>YBYy[@Q I?_CI:ip: x4ybBɮ)OAEi9i=̹?AJi=JARi=JAji=@b=1EG!@]7@tCJ="@R=>$Կ!t%?Fv>{14?Zi=i?bi= gj=fрe(%8L8#@Z=ܯҰv(L#?2i=:i=-"i=#?*i=dBi=Bi=Dg?i9i9i=Ai=az@m addTargetRange:: Added new target pos. range: 26.400000 m, deltaT: 3.028362 s, deltaX: 0.400000 m, approachRate: 0.132084 m/s, rangeRepo size: 4  Added new target pos. range: 26.286469 m, bearing: 268.411659 deg, lat: 36.779369 deg, lon: -121.859541 deg, deltaT: 3.028362 s, deltaX: 0.398069 m, approachRate: 0.131447 m/s, posRepo size: 4 DNOT Ignoring new targets: 26.29 m.hh*h"h hgff f d d jd`ff:@Zd5?]checking for new query: numPingsReceived=1, elapsed TxPingTime=2.761806aZqZqZqZu@[@o>) |is9)額iiP"IIM9@I @I@M2@IԁEm  EmEm+Ei"EmX;*Emx:VEm [4ZEi^A"(IIԱO> DDAT read: Rx Time:04:02:46.4456  TRx dataTimestamp_ set to:1761537767.693697- PDAT read: Bearing 66.6, 64.9 (Local) - ~Local bearing/azimuth received: Bearing 66.6, 64.9 (Local) M DAT read: Range 11 to 50 : 26.4 m (trip time 17.6 ms) speed -0.1 u DAT read: 04:02:46.4456 LVL= 12048, 12833, 22418, 24035, AGC= 49, IDX= 502,-0.28,-0.786,-1.230,-2.502,-0.979, PHS= 0.295,-0.205,-1.566, RAW= 45.1, 17.4, CAL= 40.6, 20.2, ROT= 109.4, -20.2  Ygot valid direction response: 04:02:46.4456 LVL= 12048, 12833, 22418, 24035, AGC= 49, IDX= 502,-0.28,-0.786,-1.230,-2.502,-0.979, PHS= 0.295,-0.205,-1.566, RAW= 45.1, 17.4, CAL= 40.6, 20.2, ROT= 109.4, -20.2  R#Rx 2: Read range and direction messages. ^direction in FSK: [-0.311731,0.885208,0.345298] Fpublishing direction and range infoy   4fӿvS?P]?Y   / !2 W  ]) 1I = >i Q rȿ  g5?  J>) f?I J   һ?ELe~S?  s) L:I f?i J   checking for new query: numPingsReceived=2, elapsed TxPingTime=3.037160 ({,`#?A}&@4s4@y>ٱ =AHRS rotation from veh to nav: [[-0.937812,-0.311318,-0.153591],[0.312928,-0.949671,0.014205],[-0.150284,-0.034741,0.988032]]H `ӿÿ?c?~<ÿɡ?i}&@I2[^;CYMsByMuIB] >BYB]IB]qBBYBYBYB];B]:Eԩa@a a@a a@a a@a bD5VD5yE7<%E*=ٔM}BQ-M>9IYQ=U\FyQU=<EU>YQ 5ex4](%?Q 9ex4]ȍ)]1YBQ A+:YQ E;y@Q I?]'_CI]Ji]x4yɮNAiAiEe칻?AJiARiAjiE@bE,6c @ $D7@JE'"@RE 4fӿvS?P]?ZiEf?biEJjE}l8ѩʋE"@ZE4uB6\?2iED:iEt"iE ԝ?*iE@BiELBiEwj?iAiEBiEOAiEp@ addTargetRange:: Added new target pos. range: 26.400000 m, deltaT: 0.504298 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 26.286549 m, bearing: 267.774449 deg, lat: 36.779368 deg, lon: -121.859541 deg, deltaT: 0.504298 s, deltaX: 0.000080 m, approachRate: 0.000159 m/s, posRepo size: 4 DNOT Ignoring new targets: 26.29 m.hh*h"h hgfffddjdZd?y>) ={i=r9)AE/AiAiIIM+IIIQechecking for new query: numPingsReceived=2, elapsed TxPingTime=3.2659619@ @@0@ E}  E} $E} ,Ey "E} [I;*E} ;VE} g4ZEy BE} 1 _,Z ?A6:&@6ٺ4@6k >ٱ68 BAHRS rotation from veh to nav: [[-0.939231,-0.306941,-0.153730],[0.308843,-0.951038,0.011952],[-0.149871,-0.036253,0.988041]]6H-`ӿiÿ?nQz?.ÿ`?i6:&@I6@^;6CfDDAT read: Rx Time:04:02:46.9457 fTRx dataTimestamp_ set to:1761537768.196517jPDAT read: Bearing 67.7, 65.0 (Local) n~Local bearing/azimuth received: Bearing 67.7, 65.0 (Local) vDAT read: Range 11 to 50 : 26.6 m (trip time 17.7 ms) speed -0.2  DAT read: 04:02:46.9457 LVL= 12016, 13745, 21282, 22803, AGC= 50, IDX= 503, 0.27, 1.989, 1.549, 0.255, 1.793, PHS= 0.298,-0.199,-1.582, RAW= 44.8, 17.3, CAL= 40.3, 20.0, ROT= 109.7, -20.0 Ygot valid direction response: 04:02:46.9457 LVL= 12016, 13745, 21282, 22803, AGC= 50, IDX= 503, 0.27, 1.989, 1.549, 0.255, 1.793, PHS= 0.298,-0.199,-1.582, RAW= 44.8, 17.3, CAL= 40.3, 20.0, ROT= 109.7, -20.0 R#Rx 3: Read range and direction messages.%^direction in FSK: [-0.316766,0.884693,0.342020]%Fpublishing direction and range infoydf+XEԿ^gO?Kj?YfAdf.f5f"S fY)f2Ifu>ifKf~ʿf+H?f#>f4? f¸>)fx?If¸ddfy_6.?R4l? f )fAIfx?if¸dd=checking for new query: numPingsReceived=3, elapsed TxPingTime=3.533255YEsByEIbDUVDUkyeN=%eo=ٔmQ-m?9iYq=u\FyquQ<Eu?yQ 5x4}"?Q 9x4})}'YBQ A :YQ E;y@Q I?}2_CI}:i}IS?}{ x4yɮNAidif ?AJifARifAjif@bfy~ !n7@b69"@Rf+XEԿ^gO?Kj?Zifx?bif¸jfpύʊm8QUi"@Zfoĝ?D p?2if#:ifn4"ifKv睊?*if[BifCBif#?if@idifAifL@  addTargetRange:: Added new target pos. range: 26.600000 m, deltaT: 0.502820 s, deltaX: 0.200001 m, approachRate: 0.397758 m/s, rangeRepo size: 4 ] Added new target pos. range: 26.485691 m, bearing: 268.369955 deg, lat: 36.779365 deg, lon: -121.859544 deg, deltaT: 0.502820 s, deltaX: 0.199142 m, approachRate: 0.396051 m/s, posRepo size: 4 ]DNOT Ignoring new targets: 26.49 m.hYha*ha"ha hagafafifiddjd:@Zd m?k >) zi%9)!%!i!iIIM<IIIQ%9@! @!@%4@!Q}checking for new query: numPingsReceived=3, elapsed TxPingTime=3.770015q ^AE VIQ Ia Om >j͈,$?AE-! E- E-+E)"E-Y;*E-:VE- [4ZE)a=@a=@a=@a=@}'@}Z5@}f>ٱ}W AHRS rotation from veh to nav: [[-0.940753,-0.302327,-0.153568],[0.304483,-0.952467,0.009852],[-0.149247,-0.037491,0.988089]]}HSYӿ`ÿ |?`z-?ÿ2l?i}'@I}5^;}CY1sByII=)bDVDym=%C=ٔźQ->9Y=\Fy6<E>Q 5x4 ?Q 9x4܋)YBQ A9YQ E\;y1@Q I??_CI ;i,??(x4yɮLNA%DNOT Ignoring new targets: 26.49 m.h!h!*h!"h) h)g)f)f1f1d1d1jd1Zd=?ef>)a e3yieV9)ims=iiiiqquLwIqIyaqDDAT read: Rx Time:04:02:47.4457 TRx dataTimestamp_ set to:1761537768.701474PDAT read: Bearing 66.5, 65.0 (Local) ~Local bearing/azimuth received: Bearing 66.5, 65.0 (Local) DAT read: Range 11 to 50 : 26.6 m (trip time 17.7 ms) speed -0.2 5DAT read: 04:02:47.4457 LVL= 12528, 11825, 21266, 22163, AGC= 49, IDX= 503, 0.04, 0.379,-0.082,-1.357, 0.177, PHS= 0.305,-0.214,-1.578, RAW= 45.5, 17.3, CAL= 41.0, 20.2, ROT= 109.0, -20.2 Ygot valid direction response: 04:02:47.4457 LVL= 12528, 11825, 21266, 22163, AGC= 49, IDX= 503, 0.04, 0.379,-0.082,-1.357, 0.177, PHS= 0.305,-0.214,-1.578, RAW= 45.5, 17.3, CAL= 41.0, 20.2, ROT= 109.0, -20.2 R#Rx 4: Read range and direction messages.^direction in FSK: [-0.305543,0.887363,0.345298]Fpublishing direction and range infoyӿ^=Fe?P]?Y01.S V)1I(>i"[ɿKK?07? J>)"?9@ @@/@IJ0i-L?+v`pOBIBMIBM4rBBIBIBIBMs;BM:EBBBBBC4^AE KIY Ii Ou >Թ u checking for new query: numPingsReceived=4, elapsed TxPingTime=4.273897,>?A2.W'@2L5@2>ٱ2@l :AHRS rotation from veh to nav: [[-0.942128,-0.298307,-0.152994],[0.300523,-0.953732,0.008983],[-0.148595,-0.037515,0.988186]]2H%xӿNÿ ;?e?*ÿ"58?i2.W'@I2sH^;2CLYz9sByzIa}a} a}a} a}a} aa iMb@Mb@Mb@ 9sh|??QˡEY)>y\'LA r4A)UAYDAbDVD02y<%M=ٔغQ->9Y=\FyS.<E>Q 5x4b?Q 9x4)YBQ AT:YKb>Q Ep;y@Q I?U_CIo;i;,6x4yɮ0NAi i ,?AJi Ri ji Ǖ@b m^/ 7@ŞbxJ"@R ӿ^=Fe?P]?Zi "?bi Jj ~!u&/8Bi"@Z MbK_9~?2i :i 3I"i I'ڝ?*i |-RBi SBi Kv睊?i di SBi Ai @5 addTargetRange:: Added new target pos. range: 26.600000 m, deltaT: 0.504957 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 26.485657 m, bearing: 268.182252 deg, lat: 36.779364 deg, lon: -121.859544 deg, deltaT: 0.504957 s, deltaX: -0.000034 m, approachRate: -0.000068 m/s, posRepo size: 4 DNOT Ignoring new targets: 26.49 m.hh*h"h hgfE=2 E='E9E9"E=i;*E=";VE9ZE9BE=)ZKb>ZB@ZB@>) Qi9)顽 ii!II}9@y @y@/@DDAT read: Rx Time:04:02:47.9458 TRx dataTimestamp_ set to:1761537769.204866PDAT read: Bearing 64.7, 65.4 (Local) ~Local bearing/azimuth received: Bearing 64.7, 65.4 (Local) %DAT read: Range 11 to 50 : 26.9 m (trip time 17.9 ms) speed -0.2 MDAT read: 04:02:47.9458 LVL= 11936, 12977, 21858, 23731, AGC= 50, IDX= 505,-0.14, 0.254,-0.245,-1.498, 0.034, PHS= 0.321,-0.235,-1.576, RAW= 46.6, 17.3, CAL= 42.1, 20.3, ROT= 107.9, -20.3 eYgot valid direction response: 04:02:47.9458 LVL= 11936, 12977, 21858, 23731, AGC= 50, IDX= 505,-0.14, 0.254,-0.245,-1.498, 0.034, PHS= 0.321,-0.235,-1.576, RAW= 46.6, 17.3, CAL= 42.1, 20.3, ROT= 107.9, -20.3 eR#Rx 5: Read range and direction messages.m^direction in FSK: [-0.288266,0.892490,0.346936]uFpublishing direction and range infoyrҿ| F?Fv>{14?Y3A.2bU \)2IZ>iףp^ɿ5P?) ?I gj?GM] ? A)ɚI ?i gchecking for new query: numPingsReceived=5, elapsed TxPingTime=4.552112) ^AE /IQ Ia Om >ؕ,X?A6Κ'@6m5@6M>ٱ6ŏ >AHRS rotation from veh to nav: [[-0.943464,-0.294501,-0.152134],[0.296664,-0.954941,0.008802],[-0.147871,-0.036828,0.988321]]6H0@ҿ#yÿ? ?t¿`/ۢR?i6Κ'@I66^;6CY^`sBybIbDjVDj|y=%U=ٔ|Q- >9 Y = \Fy 0<E>Q 5%x4?Q 9%x4)XBY!y%@Q I%?i_CI(:i:Cx4y1ɮ5MA1iiM?AJiFARiFAjiM@bFoV]O7@"@Rrҿ| F?Fv>{14?Zi ?bi gjޡ.R 9=I"@ZL FhY d;&h?2iJ:i"iGW?*iBiBiI'ڝ?i|-RiiAi֕@ addTargetRange:: Added new target pos. range: 26.900000 m, deltaT: 0.503392 s, deltaX: 0.299999 m, approachRate: 0.595955 m/s, rangeRepo size: 4  Added new target pos. range: 26.784365 m, bearing: 267.326321 deg, lat: 36.779363 deg, lon: -121.859545 deg, deltaT: 0.503392 s, deltaX: 0.298708 m, approachRate: 0.593390 m/s, posRepo size: 4 DNOT Ignoring new targets: 26.78 m.hh*h"h hgfffddjd`f:@Zd w?ZZZZ@M>) -~i9)iiII=checking for new query: numPingsReceived=5, elapsed TxPingTime=4.777711)=,9YEM EMEM*EI"EMN;*EM:VEM(N4ZEIae@ae@ae@ae@9@ @@@ DDAT read: Rx Time:04:02:48.4458  TRx dataTimestamp_ set to:1761537769.709559 PDAT read: Bearing 64.0, 65.6 (Local)  ~Local bearing/azimuth received: Bearing 64.0, 65.6 (Local) - DAT read: Range 11 to 50 : 26.9 m (trip time 17.9 ms) speed -0.2 U DAT read: 04:02:48.4458 LVL= 13808, 14113, 20914, 21811, AGC= 51, IDX= 505,-0.37,-1.257,-1.771,-2.998,-1.483, PHS= 0.328,-0.242,-1.559, RAW= 47.1, 17.3, CAL= 42.6, 20.3, ROT= 107.4, -20.3 ԁ M Ygot valid direction response: 04:02:48.4458 LVL= 13808, 14113, 20914, 21811, AGC= 51, IDX= 505,-0.37,-1.257,-1.771,-2.998,-1.483, PHS= 0.328,-0.242,-1.559, RAW= 47.1, 17.3, CAL= 42.6, 20.3, ROT= 107.4, -20.3 } R#Rx 6: Read range and direction messages. ^direction in FSK: [-0.280467,0.894971,0.346936] Fpublishing direction and range infoy  +ѿ@|1?Fv>{14?Y 5 !7 Q 3U) 3I >i w Pǿ qR? V>? ) ?I ^A H1I I OE >,Sr?A5V+n?H4M;? 5Z͢)59I5?i111Zchecking for new query: numPingsReceived=6, elapsed TxPingTime=5.130818iB >B1CBIBgrBB =BBB;B:E'@r5@HJ>ٱmU AHRS rotation from veh to nav: [[-0.944693,-0.290969,-0.151304],[0.293062,-0.956053,0.008773],[-0.147207,-0.036053,0.988448]]H@::ҿ@]ÿ??¿u`^?i'@IN^;CYXsByI !!i%Mb@Mb@Mb@!!!! !9%jt?@5^I ¿&1Y% >y%b%P% LA%;A !)!!Y%QDAbD=VD=NyMUy%m =ٔuժQ-u>9qYq=}\Fyy};E}>ԉQ 5x4?Q 9x4)XBYN^>Q Et;y@Q I?_CIW;i;Ux4yɮMAi1i5jim?AJi1Ri1ji5(@b5f SϤ7@-o"@R5+ѿ@|1?Fv>{14?Zi5?bi1j5홻_g+ 9Ă.u"@Z5EdEW@ctQ?2i5M:i5`"i5;R?*i5Փ7Bi5Bi5 ԝ?i5Փ7i1i5dAi5ԕ@Uchecking for new query: numPingsReceived=6, elapsed TxPingTime=5.281926m addTargetRange:: Added new target pos. range: 26.900000 m, deltaT: 0.504693 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 } Added new target pos. range: 26.784290 m, bearing: 267.063829 deg, lat: 36.779362 deg, lon: -121.859546 deg, deltaT: 0.504693 s, deltaX: -0.000074 m, approachRate: -0.000147 m/s, posRepo size: 4 DNOT Ignoring new targets: 26.78 m.hh*h"h hgfffBddjdZd?ZN^>ZN^>ZJ@Zm@-HJ>)1 5~i5N9)15H1i9i99e_ IaIaIfA)Թ=9@9 @9@A@AEU  EU EU )EQ "EU ,K;*EU :VEU FA4ZEQ BEU MP,ٌ?A.DDAT read: Rx Time:04:02:48.9458 2TRx dataTimestamp_ set to:1761537770.2127496PDAT read: Bearing 65.1, 65.9 (Local) 6~Local bearing/azimuth received: Bearing 65.1, 65.9 (Local) BDAT read: Range 11 to 50 : 26.9 m (trip time 17.9 ms) speed -0.2 RDAT read: 04:02:48.9458 LVL= 14560, 14577, 22978, 22259, AGC= 51, IDX= 505, 0.29, 1.357, 0.837,-0.423, 1.119, PHS= 0.340,-0.237,-1.586, RAW= 47.0, 17.0, CAL= 42.4, 20.0, ROT= 107.6, -20.0 VYgot valid direction response: 04:02:48.9458 LVL= 14560, 14577, 22978, 22259, AGC= 51, IDX= 505, 0.29, 1.357, 0.837,-0.423, 1.119, PHS= 0.340,-0.237,-1.586, RAW= 47.0, 17.0, CAL= 42.4, 20.0, ROT= 107.6, -20.0 ZR#Rx 7: Read range and direction messages.^^direction in FSK: [-0.284135,0.895706,0.342020]^Fpublishing direction and range infoy02C/ҿ|"?Kj?Y0028282Y 2V)0I2{>i2!r2 ˿2~Q?2>2q=? 2¸>)2va?I2¸002Ld?:CY]? 2&)2x(I2va?i2¸00zchecking for new query: numPingsReceived=7, elapsed TxPingTime=5.5538008(@ 6@jd>ٱ\ %AHRS rotation from veh to nav: [[-0.945907,-0.287481,-0.150379],[0.289558,-0.957124,0.008380],[-0.146340,-0.035617,0.988593]]HD`fҿ?ÿ? )?D¿`X<?i8(@I>^;CqYWsBybDVDyg{%r=ٔ),Q-?9Y=\Fy7<E-?1Q 5=x45?Q 9=x45)5XBY9yE@Q IE?5_CI5:i5A:5aax4yIɮMMAIi0i2?AJi0Ri0ji2l@b2 p=Ȩ7@%iPR"@R2C/ҿ|"?Kj?Zi2va?bi2¸j2N6l9.b"@Z2!|`qMB?2i2:i2"i2V?*i2=Bi2MBi2V?i0i0i2Ai2l@ addTargetRange:: Added new target pos. range: 26.900000 m, deltaT: 0.503190 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4   Added new target pos. range: 26.784290 m, bearing: 267.544652 deg, lat: 36.779359 deg, lon: -121.859546 deg, deltaT: 0.503190 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 26.78 m.hh*h"h hgfffdAdAjdAZdED?ZZZZ@jd>) )~i9)ii7[ IIԙu9@y @y@} 0@y^AUIYIqO}Y> checking for new query: numPingsReceived=7, elapsed TxPingTime=5.785884 m8,X?AbEQjEU]4rEU0E^ E^ E^,E\"E^P;*E^:VE^g4ZE\af@af@af@af@ZV(@ZK6@Zq>ٱZF rAHRS rotation from veh to nav: [[-0.947110,-0.283798,-0.149807],[0.285960,-0.958213,0.007369],[-0.145638,-0.035860,0.988688]]ZHN@)ҿ`,ÿ*M?.~?E¿6\T?iZV(@IZ`^;XY^sByIbD% VD%2yU8<%UV=ٔ]Q-]>9YYY=]\Fyae $<Ee>iQ 5x4mv?Q 9x4mE)mXBYyR@Q I?m_CIm;im;mnx4y_BɮMADNOT Ignoring new targets: 26.78 m.hh*h"h hgfffd!d!jd!Zd%?ZZZZR@q>) }i9)BiiNIIuDDAT read: Rx Time:04:02:49.4458 }TRx dataTimestamp_ set to:1761537770.717591PDAT read: Bearing 66.9, 66.8 (Local) ~Local bearing/azimuth received: Bearing 66.9, 66.8 (Local) DAT read: Range 11 to 50 : 26.9 m (trip time 17.9 ms) speed -0.2 DAT read: 04:02:49.4458 LVL= 12416, 11377, 22306, 22675, AGC= 49, IDX= 505, 0.09,-0.272,-0.773,-2.040,-0.524, PHS= 0.354,-0.204,-1.560, RAW= 46.5, 16.3, CAL= 42.2, 19.0, ROT= 107.8, -19.0 Ygot valid direction response: 04:02:49.4458 LVL= 12416, 11377, 22306, 22675, AGC= 49, IDX= 505, 0.09,-0.272,-0.773,-2.040,-0.524, PHS= 0.354,-0.204,-1.560, RAW= 46.5, 16.3, CAL= 42.2, 19.0, ROT= 107.8, -19.0 R#Rx 8: Read range and direction messages.^direction in FSK: [-0.289041,0.900256,0.325568]Fpublishing direction and range infoyy}Sa1ҿ?`FI?Yyy}0}q,}"W }X)}1I}}?>i}`P}ǿ}O?}>}))}?I}ɩyy}o@i?OSt]F? }G)}wI}?i}ɩyy=checking for new query: numPingsReceived=8, elapsed TxPingTime=6.0642869@ @@5@BBB%IBrBBBBB;B:E9^Aժ II O > checking for new query: numPingsReceived=8, elapsed TxPingTime=6.289715Q $(,]?A2(@2L6@2 >ٱ2N FAHRS rotation from veh to nav: [[-0.948126,-0.280578,-0.149442],[0.282882,-0.959136,0.006047],[-0.145032,-0.036541,0.988752]]2H W`ѿ ÿ?=x?e¿@ۣ?i2(@I2D^;0YNcsByNIIR=)R4y=$=`e=~JA9 9)=MTA9Y=CAbDmVDm:!ye0<%e:=ٔu䵺Q-u>9Y=\Fye;E>Q 5x4 ?Q 9=x4J)tXBYE(P>Q EE;yM@Q IM?_CIhcZ(P>Z @Z@ >) (|i=9)iIiYYeIaIax>i>m4=ma=}DDAT read: Rx Time:04:02:49.9460 }TRx dataTimestamp_ set to:1761537771.222201PDAT read: Bearing 64.6, 66.8 (Local) ~Local bearing/azimuth received: Bearing 64.6, 66.8 (Local) DAT read: Range 11 to 50 : 27.2 m (trip time 18.1 ms) speed -0.2 DAT read: 04:02:49.9460 LVL= 12640, 13121, 22626, 22451, AGC= 50, IDX= 507,-0.12,-0.452,-0.987,-2.216,-0.712, PHS= 0.362,-0.230,-1.548, RAW= 47.6, 16.5, CAL= 43.2, 19.3, ROT= 106.8, -19.3 Ygot valid direction response: 04:02:49.9460 LVL= 12640, 13121, 22626, 22451, AGC= 50, IDX= 507,-0.12,-0.452,-0.987,-2.216,-0.712, PHS= 0.362,-0.230,-1.548, RAW= 47.6, 16.5, CAL= 43.2, 19.3, ROT= 106.8, -19.3 R#Rx 9: Read range and direction messages.^direction in FSK: [-0.272788,0.903519,0.330514]Fpublishing direction and range infoyy}\e]uѿ__̠? 3%'?Y}Ay}`1}A3}bX }W)}2I}X>i}k}$ƿ}ȭT?}r>}A? }iw>)}?I}iwyy}? +???!$? }i)} +}9@y @y@}0@I}?i}iwyychecking for new query: numPingsReceived=9, elapsed TxPingTime=6.582834y^A ԩ I I O >E,Oں?A;ɰp;2(@26@2VS>ٱ2z :AHRS rotation from veh to nav: [[-0.949208,-0.277124,-0.149017],[0.279587,-0.960109,0.004585],[-0.144343,-0.037311,0.988824]]2H_`fѿ@ÿ@?7r?@y¿ k@r?i2(@I2r7^;2CYBgsByBIbDN VDN:2yVx8<%Vm=ٔZQ-Z?9XYX=^\Fy\^;+<E^?`Q 5fx4bT?Q 9fx4b~)b[XBYhyj3@Q Ij?b_CIb:ib:b x4ylɮn`MApii8κ?AJiARiAji4j@bw?-Sx8@EY^!@R\e]uѿ__̠? 3%'?Zi?biiwjОsE÷9ZV4f"@ZiפȐ.&P(YmG?2i%:i"irn?*i BiBiGW?i7iMBiAiE@- addTargetRange:: Added new target pos. range: 27.200001 m, deltaT: 0.504610 s, deltaX: 0.300001 m, approachRate: 0.594521 m/s, rangeRepo size: 4 E Added new target pos. range: 27.083019 m, bearing: 267.526261 deg, lat: 36.779359 deg, lon: -121.859547 deg, deltaT: 0.504610 s, deltaX: 0.298710 m, approachRate: 0.591962 m/s, posRepo size: 4 EDNOT Ignoring new targets: 27.08 m.hAhA*hA"hA hIgIfIfIfIdQdQjdU@33;@ZdU`?Zqchecking for new query: numPingsReceived=9, elapsed TxPingTime=6.793885ZqZqZu_3@%VS>)! -{i-m9))-ҟ)i)iQQ]ԨIYIYԑ9@ @@/@^A IIQO=>E& EE+E"E8^;*E4:VE [4ZEa@a@a@a@ DDAT read: Rx Time:04:02:50.4460  TRx dataTimestamp_ set to:1761537771.725385 PDAT read: Bearing 64.9, 67.1 (Local)  ~Local bearing/azimuth received: Bearing 64.9, 67.1 (Local)  DAT read: Range 11 to 50 : 27.2 m (trip time 18.1 ms) speed -0.1  DAT read: 04:02:50.4460 LVL= 14736, 15537, 22002, 21939, AGC= 50, IDX= 507,-0.48,-0.762,-1.303,-2.539,-1.033, PHS= 0.373,-0.224,-1.550, RAW= 47.7, 16.2, CAL= 43.4, 19.0, ROT= 106.6, -19.0  Ygot valid direction response: 04:02:50.4460 LVL= 14736, 15537, 22002, 21939, AGC= 50, IDX= 507,-0.48,-0.762,-1.303,-2.539,-1.033, PHS= 0.373,-0.224,-1.550, RAW= 47.7, 16.2, CAL= 43.4, 19.0, ROT= 106.6, -19.0  T#Rx 10: Read range and direction messages. ^direction in FSK: [-0.270124,0.906112,0.325568] Fpublishing direction and range infoy  KvIѿ!H-?`FI?Y 9 < U U) I >i B`e ffƿ + U? Ð> A? ɩ>) %?I ɩ ]I[b?O .HoR>W? /) ƐI %?i ɩ } checking for new query: numPingsReceived=10, elapsed TxPingTime=7.075523 t,=?ABYA]<Bu >Bu2CBu+IBurBBu =BqBqBu;Bu:E(@6@M>ٱ- 5AHRS rotation from veh to nav: [[-0.950168,-0.274144,-0.148411],[0.276669,-0.960958,0.003764],[-0.143648,-0.037484,0.988919]]Hgѿ@¿?*n?c¿18?i(@IJ^;YEmsByMIiMb@Mb@Mb@ 9Dl?1ZdQYO >y"۽uIA:A 2A)tSAYBAbDVD:y!N<%*=ٔYQ->9Y = \Fy  F;E >Q 5x4?Q 9x4})6XBY%=>Q E%;y% @Q I%?_CI ;iX ;ٚx4y)ɮ-GMA1iil?AJiRijip@bM/έ]C7R8@7ԁ!@RKvIѿ!H-?`FI?Zi%?biɩjuQ[19q Z!@Z͂kcO@7]nE?2i:iߊ"i#?*iBijBirn?iiBiFAiv@ addTargetRange:: Added new target pos. range: 27.200001 m, deltaT: 0.503184 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 27.083105 m, bearing: 267.570658 deg, lat: 36.779358 deg, lon: -121.859547 deg, deltaT: 0.503184 s, deltaX: 0.000086 m, approachRate: 0.000171 m/s, posRepo size: 4 DNOT Ignoring new targets: 27.08 m.hh*h"h hgffAfEtBdIdIjdIZdM |?Z=>Z=>Z@Z @M>) wi֟9),¶iiIIiIchecking for new query: numPingsReceived=10, elapsed TxPingTime=7.298138 I)i9@ @@0@A E  E E (E "E &U;*E :VE c44ZE BE a 2E a JE @7Y,k ?A&DDAT read: Rx Time:04:02:50.9461 *TRx dataTimestamp_ set to:1761537772.229273.PDAT read: Bearing 66.0, 67.0 (Local) 2~Local bearing/azimuth received: Bearing 66.0, 67.0 (Local) :DAT read: Range 11 to 50 : 27.3 m (trip time 18.2 ms) speed -0.1 JDAT read: 04:02:50.9461 LVL= 12080, 12401, 20962, 20467, AGC= 50, IDX= 508, 0.11, 2.069, 1.529, 0.270, 1.795, PHS= 0.376,-0.221,-1.569, RAW= 47.4, 16.2, CAL= 43.2, 18.9, ROT= 106.8, -18.9 NYgot valid direction response: 04:02:50.9461 LVL= 12080, 12401, 20962, 20467, AGC= 50, IDX= 508, 0.11, 2.069, 1.529, 0.270, 1.795, PHS= 0.376,-0.221,-1.569, RAW= 47.4, 16.2, CAL= 43.2, 18.9, ROT= 106.8, -18.9 RT#Rx 11: Read range and direction messages.R^direction in FSK: [-0.273449,0.905706,0.323917]VFpublishing direction and range infoy(*]6/ѿB\??Y*fA(*0/*q0*Q *O)(I*>i*Mb*ȿ*S?(*A? *[>)*?I*[䨾((*SZj?CSF3Ƽ? *)*]I*?i*[䨾((bchecking for new query: numPingsReceived=11, elapsed TxPingTime=7.566281%gG9I}U9yY}7BA*)@V 7@>ٱV -AHRS rotation from veh to nav: [[-0.951087,-0.271211,-0.147910],[0.273741,-0.961798,0.003371],[-0.143174,-0.037283,0.988995]]HNo[ѿ¿@? k?S¿`إ?i*)@Ip9^;CY=nsBy=I AA Mp9Y=\FyE;E>Q 5x4l?Q 9x4{)XBYy @Q I?_CI:ig:Шx4y1ɮ5EMA1Ii(i*i?AJi*vARi*vAji*ʩ@b*Rvk<8@F!!@R*]6/ѿB\??Zi*?bi*[䨾j* լh9o!@Z*yb# \<m&c?2i*x:i*h"i*H˾?*i*A-#Bi*lBi*H˾?i*i*lBi*)Ai*/@ addTargetRange:: Added new target pos. range: 27.299999 m, deltaT: 0.503888 s, deltaX: 0.099998 m, approachRate: 0.198454 m/s, rangeRepo size: 4  Added new target pos. range: 27.182674 m, bearing: 267.971008 deg, lat: 36.779359 deg, lon: -121.859549 deg, deltaT: 0.503888 s, deltaX: 0.099569 m, approachRate: 0.197602 m/s, posRepo size: 4 DNOT Ignoring new targets: 27.18 m.hh*h"h hgff!f!ddjdL;@Zd?ZZZZb @>) wi9)ᶉii   I Iy9@ @@/@^AuIIO~>checking for new query: numPingsReceived=11, elapsed TxPingTime=7.806201ԡ V,X'?A2>T)@2I7@2y>ٱ2F :AHRS rotation from veh to nav: [[-0.951864,-0.268893,-0.147144],[0.271354,-0.962474,0.003471],[-0.142556,-0.036624,0.989109]]2Hu@5ѿ ¿@]?@hol?@D?¿dǦ?i2>T)@I2Q^;0DNC=DNR=ER% ERER+EP"ERO];*ER:VER [4ZEPaV@aZ@aZ@aZ@XY^psBy^IbDjVDjN2y;% i=ٔ Q- >9Y=\Fy1;E?!Q 5-x4%?Q 9-x4%Pz)%WBY)y-? @Q I5?%`CI%:i%|:%Ҵx4y9ɮ=:MA9eDNOT Ignoring new targets: 27.18 m.hahi*hi"hi higififqfqdqdjdZdS?ZAZAZAZE? @ey>)a e|wieH9)imiiiiUIIeDDAT read: Rx Time:04:02:51.4461 eTRx dataTimestamp_ set to:1761537772.733604uPDAT read: Bearing 63.1, 67.3 (Local) }~Local bearing/azimuth received: Bearing 63.1, 67.3 (Local) DAT read: Range 11 to 50 : 27.3 m (trip time 18.2 ms) speed -0.1 DAT read: 04:02:51.4461 LVL= 14496, 15777, 23618, 22643, AGC= 51, IDX= 508,-0.22,-0.869,-1.452,-2.666,-1.158, PHS= 0.391,-0.249,-1.553, RAW= 48.8, 16.2, CAL= 44.5, 19.2, ROT= 105.5, -19.2 Ygot valid direction response: 04:02:51.4461 LVL= 14496, 15777, 23618, 22643, AGC= 51, IDX= 508,-0.22,-0.869,-1.452,-2.666,-1.158, PHS= 0.391,-0.249,-1.553, RAW= 48.8, 16.2, CAL= 44.5, 19.2, ROT= 105.5, -19.2 T#Rx 12: Read range and direction messages.^direction in FSK: [-0.252374,0.910030,0.328867]-Fpublishing direction and range infoyaeie~eƿe^ Z?aeF? e>)es?Ieaae`n? ,pQ7? e)eڐIes?ieaaM9@I @Q@U/@QEchecking for new query: numPingsReceived=12, elapsed TxPingTime=8.084456PExceeded connect timeout, disconnecting.B} >ByB}1IB}rBByByByB}p;B}:E^AIIO>!  checking for new query: numPingsReceived=12, elapsed TxPingTime=8.305798i,˻A?AYvsByzIiMb@Mb@Mb@ 9n?+ηMbYV>yvHA;A 3A)QAYBAbDVDNyEA=%/=ٔQ->9Y=\FyE> Q 5x4 ?Q 9x4 x) WBY^7>Q E;y@Q I? `CI * ;i 2 ; x4y!ɮ%LA!ii^.?AJiRiji8@blp ;O8@Bb{!@RZ^7>ZZ1@Z@)  wia9)niiGII)mDDAT read: Rx Time:04:02:51.9461 mTRx dataTimestamp_ set to:1761537773.236849uPDAT read: Bearing 64.8, 67.5 (Local) }~Local bearing/azimuth received: Bearing 64.8, 67.5 (Local) DAT read: Range 11 to 50 : 27.3 m (trip time 18.2 ms) speed 0.0 DAT read: 04:02:51.9461 LVL= 11808, 13025, 22322, 21427, AGC= 50, IDX= 508, 0.20, 1.051, 0.479,-0.766, 0.758, PHS= 0.395,-0.233,-1.568, RAW= 48.3, 16.0, CAL= 44.0, 18.8, ROT= 106.0, -18.8 Ygot valid direction response: 04:02:51.9461 LVL= 11808, 13025, 22322, 21427, AGC= 50, IDX= 508, 0.20, 1.051, 0.479,-0.766, 0.758, PHS= 0.395,-0.233,-1.568, RAW= 48.3, 16.0, CAL= 44.0, 18.8, ROT= 106.0, -18.8 T#Rx 13: Read range and direction messages.^direction in FSK: [-0.260932,0.909978,0.322266]Fpublishing direction and range infoyimVyп}}?ɜL?Yiim .m2m2W mS)m2Imq=>imnm9ȿmuW?m5>m D? m>)mh?ImiimE?:)S7pTT? mH)mZŽImh?imiichecking for new query: numPingsReceived=13, elapsed TxPingTime=8.5741369@ @@/@@=@=Yԁ ^A I I! O- >,[?A:R)@:7@:a>ٱ:>k FAHRS rotation from veh to nav: [[-0.953350,-0.263948,-0.146477],[0.266495,-0.963834,0.002316],[-0.141791,-0.036827,0.989211]]:H`ׁпĿ¿`@?b? 6&¿@ۢ?i:R)@I:\[^;:CYJsByNIIR<)RbDVVDVܲy^*%^w=ٔbQ-b?9`Y`=f\Fydf}<Ef?hQ 5nx4j?Q 9nx4jw)jWBYpyr@Q Ir?j&`CIjU;ij;jx4ytɮvLAtii(O?AJiRiji|}@bS{S _] aQ8@T#!@RVyп}}?ɜL?Zih?bij-9/rPlv94nYD!@Z3gۘǣԠ42wD?n&?2i:ij"iڪ?*iȬBiGBi#?iii]Ai=@= addTargetRange:: Added new target pos. range: 27.299999 m, deltaT: 0.503245 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 M Added new target pos. range: 27.182663 m, bearing: 267.661137 deg, lat: 36.779357 deg, lon: -121.859549 deg, deltaT: 0.503245 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 UDNOT Ignoring new targets: 27.18 m.hQhQ*hQ"hQ hQYgYfafafadadijdiZdm?ZZZZ @a>) Bwi9)顥iiIIchecking for new query: numPingsReceived=13, elapsed TxPingTime=8.8097809@ @@3@ԉE EE-E"E&U;*E:VEt4ZEa@a@a@a@^AIIO>u DDAT read: Rx Time:04:02:52.4461 } TRx dataTimestamp_ set to:1761537773.740802 PDAT read: Bearing 63.4, 67.6 (Local)  ~Local bearing/azimuth received: Bearing 63.4, 67.6 (Local)  DAT read: Range 11 to 50 : 27.3 m (trip time 18.2 ms) speed -0.1  DAT read: 04:02:52.4461 LVL= 11632, 13489, 20386, 22003, AGC= 50, IDX= 508,-0.19,-1.475,-2.070, 2.995,-1.778, PHS= 0.404,-0.247,-1.554, RAW= 49.1, 16.0, CAL= 44.7, 18.9, ROT= 105.3, -18.9  Ygot valid direction response: 04:02:52.4461 LVL= 11632, 13489, 20386, 22003, AGC= 50, IDX= 508,-0.19,-1.475,-2.070, 2.995,-1.778, PHS= 0.404,-0.247,-1.554, RAW= 49.1, 16.0, CAL= 44.7, 18.9, ROT= 105.3, -18.9  T#Rx 14: Read range and direction messages. ^direction in FSK: [-0.249646,0.912554,0.323917] Fpublishing direction and range infoyq u 4>GLjϿ0 3??Yq q u p-u 4u O u U)q Iu >iu |u yƿu a[?q u G? u [>)u >?Iu [䨾q q u ?5xܘ? u )u *Iu >?iu [䨾q q  checking for new query: numPingsReceived=14, elapsed TxPingTime=9.078378 nManaging dock network, ignoring radio surface power off ,tu?ABBB8IBrBBBBBe;B{:EBBBBBC5ԹYUzsByUIiMb@Mb@Mb@ 9p= ף?MbX9y&1Y>yʡ`e7GA$:A 2A)YpAAbD5VD50yEԟ%E(=ٔEQ-M>9IYI=U\FyQUEU>YQ 5ex4]6?Q 9ex4]Q Em;ym@Q Im?]8`CI] ;i]7 ;]x4yqɮuMAqiiMio?AJiRijiM@b$z<8@'/|!@R4>GLjϿ0 3??Zi>?bi[䨾jtw|O9x&i!@ZL2©ܮ""@#l%?2i:i"i!?*iBiABiڪ?iȬijBiFAiތ@ addTargetRange:: Added new target pos. range: 27.299999 m, deltaT: 0.503953 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 27.182632 m, bearing: 266.953435 deg, lat: 36.779356 deg, lon: -121.859548 deg, deltaT: 0.503953 s, deltaX: -0.000031 m, approachRate: -0.000061 m/s, posRepo size: 4 DNOT Ignoring new targets: 27.18 m.hh*h"h hgfffQBddjdZd@#?Z%>Z%>Z@Z@) riȟ9checking for new query: numPingsReceived=14, elapsed TxPingTime=9.313822).iitII9@ @@0@E  E E E "E L;*E :VE ZE BE 9 ܥ,L?ADDAT read: Rx Time:04:02:52.9462 TRx dataTimestamp_ set to:1761537774.244756PDAT read: Bearing 65.0, 67.6 (Local) ~Local bearing/azimuth received: Bearing 65.0, 67.6 (Local) *DAT read: Range 11 to 50 : 27.5 m (trip time 18.3 ms) speed -0.1 :DAT read: 04:02:52.9462 LVL= 12624, 14817, 24514, 24883, AGC= 51, IDX= 509, 0.17, 1.232, 0.645,-0.606, 0.925, PHS= 0.409,-0.235,-1.575, RAW= 48.5, 15.8, CAL= 44.3, 18.6, ROT= 105.7, -18.6 >Ygot valid direction response: 04:02:52.9462 LVL= 12624, 14817, 24514, 24883, AGC= 51, IDX= 509, 0.17, 1.232, 0.645,-0.606, 0.925, PHS= 0.409,-0.235,-1.575, RAW= 48.5, 15.8, CAL= 44.3, 18.6, ROT= 105.7, -18.6 BT#Rx 15: Read range and direction messages.F^direction in FSK: [-0.256467,0.912409,0.318959]FFpublishing direction and range infoy)'iп(t2?ˬQi?YAP19_ 3a)3Ish>iףpɿ8X?0>.E? 6>)"?I6԰a? z1 Yf? Þ).I"?i6Vchecking for new query: numPingsReceived=15, elapsed TxPingTime=9.582072)@M7@>ٱ}! AHRS rotation from veh to nav: [[-0.954690,-0.259116,-0.146375],[0.261953,-0.965080,-0.000113],[-0.141234,-0.038451,0.989229]]HҌZпg¿?¿௣ħ?i)@I2^;CY={sBy=IbDMVDMy);%V=ٔQ->9Y=\Fy!M<E>Q 5x4#?Q 9x4 u)}WBYy.@Q I?G`CI :i:x4yɮMAii?AJi ARi Aji\@b/>i ^@8@_̣w!@R)'iп(t2?ˬQi?Zi"?bi6jΆ4k9!NopW!@Z4TRe2D?2i:i"iIژ?*i-˷BiBiIژ?iiGBiAi@ addTargetRange:: Added new target pos. range: 27.500000 m, deltaT: 0.503954 s, deltaX: 0.200001 m, approachRate: 0.396863 m/s, rangeRepo size: 4  Added new target pos. range: 27.381773 m, bearing: 267.688238 deg, lat: 36.779356 deg, lon: -121.859548 deg, deltaT: 0.503954 s, deltaX: 0.199141 m, approachRate: 0.395156 m/s, posRepo size: 4 DNOT Ignoring new targets: 27.38 m.hh*h"h hgfffddjd;@Zdo ?Z!Z!Z!Z%.@]>)Y ]sri]n9)Ye=aiai-IIAchecking for new query: numPingsReceived=15, elapsed TxPingTime=9.817808i- >95 p>i5 %> 9@  @ @ 0@ @ @ ԙ E  E E E "E M;*E :VE ZE a @a @a @a @^Ah5IIO>.,箻?A>DDAT read: Rx Time:04:02:53.4462 BTRx dataTimestamp_ set to:1761537774.748629FPDAT read: Bearing 64.0, 67.7 (Local) F~Local bearing/azimuth received: Bearing 64.0, 67.7 (Local) NDAT read: Range 11 to 50 : 27.5 m (trip time 18.3 ms) speed 0.0 bDAT read: 04:02:53.4462 LVL= 14416, 15729, 23746, 25571, AGC= 50, IDX= 509,-0.32,-1.549,-2.150, 2.911,-1.862, PHS= 0.415,-0.242,-1.554, RAW= 49.1, 15.7, CAL= 44.9, 18.5, ROT= 105.1, -18.5 fYgot valid direction response: 04:02:53.4462 LVL= 14416, 15729, 23746, 25571, AGC= 50, IDX= 509,-0.32,-1.549,-2.150, 2.911,-1.862, PHS= 0.415,-0.242,-1.554, RAW= 49.1, 15.7, CAL= 44.9, 18.5, ROT= 105.1, -18.5 fT#Rx 16: Read range and direction messages.j^direction in FSK: [-0.247043,0.915581,0.317305]nFpublishing direction and range infoy<>.zϿ|oL?Hs%N?Y<<>P8>q=>\ >c)>2I>z>i>w>yƿ>a[?>K>>yH? >MQ>)>?I>MQ<<>PVP0?%i89@S? >@T)>XI>?i>MQ<<zchecking for new query: numPingsReceived=16, elapsed TxPingTime=10.085713YsByI bDVDkyT=%0=ٔQ->9Y=\FyE > Q 5y4 흊?Q 9y4 s) YWBYyQ I? Z`CI :i : y4yU\Bɮ]LAEBYB]1CB]>IB]rBB] =BYBYB]P;B]e:Ei<i>鯻?AJi<Ri<ji>/@b>r[9@bZo`!@R>.zϿ|oL?Hs%N?Zi>?bi>MQj>ؓCP9 ,!@Z>^.~OJXe%?2i>:i>"i>$~?*i>DSBi>Bi>SÁ?i<i>ABi>'Ai>8@ addTargetRange:: Added new target pos. range: 27.500000 m, deltaT: 0.503873 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 27.381742 m, bearing: 267.112298 deg, lat: 36.779353 deg, lon: -121.859548 deg, deltaT: 0.503873 s, deltaX: -0.000031 m, approachRate: -0.000061 m/s, posRepo size: 4 %DNOT Ignoring new targets: 27.38 m.h!h!*h!"h! h!g)f)fIfIdQdQjdQZdU?ZZZZ) pi9)Oii:-IIi)I)-checking for new query: numPingsReceived=16, elapsed TxPingTime=10.3222829  ,9i 9@  @ @ /@ E5  E5 E5 +E1 "E5 US;*E5 j:VE5 [4ZE1 BE5 [irhǿ|Z?ܸ> >)I& ?4{g93<? 0ž)BIichecking for new query: numPingsReceived=17, elapsed TxPingTime=10.595126^AaIIO ?VI,ѻ?Au9j*@u_8@u>ٱu AHRS rotation from veh to nav: [[-0.956574,-0.252296,-0.145987],[0.255230,-0.966879,-0.001417],[-0.140795,-0.038615,0.989285]]uHA %п¿U?5W ¿ gţ9?iu9j*@IunS^;uCYsByI iMb@Mb@Mb@ 9!rh?#~jMbYl=y㥽@HA:A 1A)1PAYbDVDNy-<%- =ٔ-CQ-->91Y1=5\Fy1=qP<E=>aQ 5my4eD靊?Q 9my4er)e7WBYuH>Q Eu;yu @Q Iu?em`CIe:ieU:eHy4yyɮeLAiip]л?AJiARiAjiw@b! ?EjЅ?9@m[ @R$gϿUdMf?uY?Zibij*bI ):Ʀ5 @Z=W}v rXYl?2iM:i"i?*i/:"Bi~Bi?iDSiBigAi%v@- addTargetRange:: Added new target pos. range: 27.600000 m, deltaT: 0.507074 s, deltaX: 0.100000 m, approachRate: 0.197211 m/s, rangeRepo size: 4 ] Added new target pos. range: 27.481312 m, bearing: 267.622019 deg, lat: 36.779354 deg, lon: -121.859549 deg, deltaT: 0.507074 s, deltaX: 0.099569 m, approachRate: 0.196361 m/s, posRepo size: 4 eDNOT Ignoring new targets: 27.48 m.haha*ha"ha hagifififmdBdqdqjdu;@Zdu ?ZH>ZH>Z)@Z @>) riz9)`ii*ٽII9checking for new query: numPingsReceived=17, elapsed TxPingTime=10.825906a] >9 9@  @ @ @ ԑ bEU|a4jEUd4rEU˓/E % E E E "E O];*E :VE ZE a @a @a @a @DDAT read: Rx Time:04:02:54.4462 TRx dataTimestamp_ set to:1761537775.759743PDAT read: Bearing 66.0, 68.4 (Local) ~Local bearing/azimuth received: Bearing 66.0, 68.4 (Local) DAT read: Range 11 to 50 : 27.5 m (trip time 18.3 ms) speed 0.0 DAT read: 04:02:54.4462 LVL= 15664, 12593, 23106, 24115, AGC= 49, IDX= 509, 0.34, 0.113,-0.481,-1.739,-0.220, PHS= 0.436,-0.215,-1.562, RAW= 48.6, 15.0, CAL= 44.6, 17.6, ROT= 105.4, -17.6 Ygot valid direction response: 04:02:54.4462 LVL= 15664, 12593, 23106, 24115, AGC= 49, IDX= 509, 0.34, 0.113,-0.481,-1.739,-0.220, PHS= 0.436,-0.215,-1.562, RAW= 48.6, 15.0, CAL= 44.6, 17.6, ROT= 105.4, -17.6 T#Rx 18: Read range and direction messages.^direction in FSK: [-0.253126,0.918967,0.302370] Fpublishing direction and range infoy:E53пO.,h?-JZ?YA0=11BZ 3^)Id;>)^A=IIIYOm?B,fI?Ai(\ǿ%Y? >SFG? nF>)Cw?InF>qY?)V Ic໱y? r)D]ICw?inF.checking for new query: numPingsReceived=18, elapsed TxPingTime=11.119010E*@E8@E>ٱE ]AHRS rotation from veh to nav: [[-0.957220,-0.249913,-0.145853],[0.252845,-0.967505,-0.001621],[-0.140709,-0.038430,0.989305]]EH@$ϿO¿@.?ԍZ¿ b?iE*@IE?^;AYmsBymIbDyVDyyF=%3=ٔ HQ->9Y=\Fyh;E>Q 5y4.杊?Q 9y4p)WBYy@Q I?|`CIN:i:$y4yɮ LAii?AJi ARi Aji@b/Ū]kBt)9@o @R:E53пO.,h?-JZ?ZiCw?binFj^5뿠,s:0 e @ZTy݃4)?2i:i\"i?*iPBiABiiPiBiAi@BBBQIBrBB =BBB<;BQ:E addTargetRange:: Added new target pos. range: 27.500000 m, deltaT: 0.504040 s, deltaX: -0.100000 m, approachRate: -0.198398 m/s, rangeRepo size: 4 e Added new target pos. range: 27.381742 m, bearing: 268.110078 deg, lat: 36.779354 deg, lon: -121.859549 deg, deltaT: 0.504040 s, deltaX: -0.099569 m, approachRate: -0.197543 m/s, posRepo size: 4 DNOT Ignoring new targets: 27.38 m.hh*h"h hgfffddjd;@Zd?ZZZZ@%>)! %&qi%9))-q)i)iQQUսIQIY egAegA)checking for new query: numPingsReceived=18, elapsed TxPingTime=11.329918M 9Y 9@  @ @ @ @ =@ E 0 E E -E "E Jg;*E :VE t4ZE BE iq= ǿ +]?V>bJ? >)?IPn?!a-,y? f)EEI?i(zx*@z8@zg]>ٱzK AHRS rotation from veh to nav: [[-0.957928,-0.247291,-0.145677],[0.250260,-0.968176,-0.002127],[-0.140515,-0.038495,0.989330]]zHX8Ͽ¿ B?Mma c@?izx*@Iz3a^;zCUchecking for new query: numPingsReceived=19, elapsed TxPingTime=11.653177Y]sBy]IIe<)aiMb@Mb@Mb@ 91Zd? ףp= /$Y"=yQ,7GA8A )Yz@AbDVDy?=%=ٔQ->9Y=\Fy ;E>Q 5 y4❊?Q 9 y4.o)VBY ~>Q E;ym @Q I?`CI:i:7y4yQBɮGKAEԁiir?AJiqARiqAji^@bӒtLt9@lo @R"Ggο^{?ќ?Zi?bij% o`_:D{ @Zum#}#{>?2i:i"ix?*i[$BiBii-˷iBiAi#@ addTargetRange:: Added new target pos. range: 27.799999 m, deltaT: 0.503834 s, deltaX: 0.299999 m, approachRate: 0.595433 m/s, rangeRepo size: 4  Added new target pos. range: 27.680473 m, bearing: 267.447288 deg, lat: 36.779354 deg, lon: -121.859550 deg, deltaT: 0.503834 s, deltaX: 0.298731 m, approachRate: 0.592915 m/s, posRepo size: 4 %DNOT Ignoring new targets: 27.68 m.h!h!*h!"h! h!g)f)f)f-^Bd1d1jd5;@Zd5?Zu~>Zu~>Zu @Zutm @g]>)  ni 9)  ] i i11=wmѽI9I9ԩchecking for new query: numPingsReceived=19, elapsed TxPingTime=11.833884- ,9 9@  @ @ @ D <D %=E  E !E +E "E W;*E :VE [4ZE a @a @a @a @ DDAT read: Rx Time:04:02:55.4463 TRx dataTimestamp_ set to:1761537776.764829PDAT read: Bearing 66.1, 68.8 (Local) ~Local bearing/azimuth received: Bearing 66.1, 68.8 (Local) DAT read: Range 11 to 50 : 27.6 m (trip time 18.4 ms) speed -0.1 DAT read: 04:02:55.4463 LVL= 14944, 12977, 24674, 24259, AGC= 49, IDX= 510, 0.12, 0.588,-0.023,-1.285, 0.238, PHS= 0.452,-0.216,-1.567, RAW= 48.9, 14.8, CAL= 45.0, 17.3, ROT= 105.0, -17.3 Ygot valid direction response: 04:02:55.4463 LVL= 14944, 12977, 24674, 24259, AGC= 49, IDX= 510, 0.12, 0.588,-0.023,-1.285, 0.238, PHS= 0.452,-0.216,-1.567, RAW= 48.9, 14.8, CAL= 45.0, 17.3, ROT= 105.0, -17.3 T#Rx 20: Read range and direction messages. ^direction in FSK: [-0.247110,0.922228,0.297375] Fpublishing direction and range infoy1OϿB̉?+0?YA`:2b` ^)1Il>i/]uȿ^AewֽIaIyO?~+ ,R 3?A|Z? A>I? #>)?I#-?Ң%CF0X? 꺞)8I?i#Nchecking for new query: numPingsReceived=20, elapsed TxPingTime=12.138822R*@R8@RK>ٱRfT jAHRS rotation from veh to nav: [[-0.958615,-0.244668,-0.145585],[0.247652,-0.968846,-0.002458],[-0.140448,-0.038410,0.989343]]RH`DQϿ`¿? !d1` ?iR*@IRF^;RCYrsByrIbD~VD~y 2<% 7=ٔ Q- >9Y=\Fy;E>Q 5y4ߝ?Q 9y4m)VBYy @Q I?`CI=iH=Fy4y)ɮ- KA)BB2CBjIBrBBBBBF;B\:Eii0?AJiARiAji3@b )_X9@2X @R1OϿB̉?+0?Zi?bi#jXx/䜿A: L! @Z[h גHdTa?2i :ixa"iVÕ?*iE:t BiBiiE:t i~Bi2Aiq@ addTargetRange:: Added new target pos. range: 27.600000 m, deltaT: 0.501252 s, deltaX: -0.199999 m, approachRate: -0.398999 m/s, rangeRepo size: 4 % Added new target pos. range: 27.481352 m, bearing: 268.078784 deg, lat: 36.779354 deg, lon: -121.859550 deg, deltaT: 0.501252 s, deltaX: -0.199121 m, approachRate: -0.397248 m/s, posRepo size: 4 %DNOT Ignoring new targets: 27.48 m.h!h)*h)"h) h)g)f1f1f1d1d9jd=;@Zd= w?ZyZyZyZ} @K>) ni"9)页􉷉iid̽III>)>checking for new query: numPingsReceived=20, elapsed TxPingTime=12.337890 9I gA) fA1 9@  @ @ @ E 1 E E -E "E 2h;*E A:VE t4ZE BE `ieSceTſe^?e>eL? e>)e?Ie闾aaeQ?UP)ҔK ? e)eIe?ie闾aa5checking for new query: numPingsReceived=21, elapsed TxPingTime=12.616930^A rAнIIQO] ?,eUU?AJ+@?9@TY>ٱ 5AHRS rotation from veh to nav: [[-0.960012,-0.239069,-0.145678],[0.242149,-0.970233,-0.003522],[-0.140499,-0.038656,0.989326]]H lљο¿?% Plʣ?iJ+@IL^;YEtByI YiMb@Mb@Mb@ 9"~j?|?5^99Y9==\Fy9E<EE>IQ 5Uy4M۝?Q 9Uy4Mk)MVBY]a>Q E];y]P@Q I]?M`CIM8;iM;M]y4yyɮ}OJAyii/3Q?AJiqARiqAji)~@b( _Bf7B9@箜/ @Rο ?兗7?Zi?bi闾jxv9H񿽽e:F|.@Z-\d }&S?2i:iA"iaԀ?*i$BiBii/:"iABi^AiY@ addTargetRange:: Added new target pos. range: 27.799999 m, deltaT: 0.503920 s, deltaX: 0.199999 m, approachRate: 0.396886 m/s, rangeRepo size: 4 = Added new target pos. range: 27.680492 m, bearing: 267.665859 deg, lat: 36.779354 deg, lon: -121.859551 deg, deltaT: 0.503920 s, deltaX: 0.199141 m, approachRate: 0.395183 m/s, posRepo size: 4 EDNOT Ignoring new targets: 27.68 m.hAhA*hA"hA hAgIfIfqfucBdqdqjdu;@Zd}&?checking for new query: numPingsReceived=21, elapsed TxPingTime=12.842056Za>Za>Z@ZNP@ TY>)I MkiU9)QUYiYԉia3ýIIԱ D zD AAE " E 5E +E "E Z;*E ;VE [4ZE a @a @a @a @ 9 9@  @ @ 4@ m DDAT read: Rx Time:04:02:56.4463 u TRx dataTimestamp_ set to:1761537777.773072} PDAT read: Bearing 64.8, 69.1 (Local) } ~Local bearing/azimuth received: Bearing 64.8, 69.1 (Local)  DAT read: Range 11 to 50 : 27.6 m (trip time 18.4 ms) speed -0.1  DAT read: 04:02:56.4463 LVL= 13392, 13617, 24098, 23491, AGC= 50, IDX= 510, 0.05,-1.048,-1.687,-2.927,-1.413, PHS= 0.467,-0.228,-1.557, RAW= 49.8, 14.7, CAL= 45.8, 17.2, ROT= 104.2, -17.2  Ygot valid direction response: 04:02:56.4463 LVL= 13392, 13617, 24098, 23491, AGC= 50, IDX= 510, 0.05,-1.048,-1.687,-2.927,-1.413, PHS= 0.467,-0.228,-1.557, RAW= 49.8, 14.7, CAL= 45.8, 17.2, ROT= 104.2, -17.2  T#Rx 22: Read range and direction messages. ^direction in FSK: [-0.234337,0.926090,0.295708] Fpublishing direction and range infoyi m #ڿͿVՇ?-?Ym Ai m P4m 15m "^ m [)m 2Im >im xim Kǿm /^?m G\>i m `>)i Im `i i m Ζ)?c (#2? m J)m Ii im `i i checking for new query: numPingsReceived=22, elapsed TxPingTime=13.1158111^Ah{̽IAAAABBBIB(sBBBBB8;BM:EI O?h,p'y?Az+@Vp9@I=>ٱ! AHRS rotation from veh to nav: [[-0.960742,-0.236132,-0.145659],[0.239300,-0.970936,-0.004372],[-0.140393,-0.039056,0.989325]]He`9ο ¿c?qi3@?iz+@I:;^;AYU*tByU'IiMb@Mb@Mb@ 9Mb?ʡE󽿸QY=yy6A )Y?AbD%VD%02y-sK=%-=ٔ5_SQ-5>91Y9==\Fy9=߸;EE>AQ 5My4ECٝ?Q 9My4Ei)EVBYU>Q EU;yU?Q IU?E`CIE:iE:Epoy4yYɮeIAaiizq?AJiARiAjix@bܷu!NCs9@@ @R#ڿͿVՇ?-?Zibi`jCÔI:%V9@Z!.a݁Vil?2iL:ì"i^@x?*iH=BiBi^@x?iE:t iBimAi@checking for new query: numPingsReceived=22, elapsed TxPingTime=13.345986M addTargetRange:: Added new target pos. range: 27.600000 m, deltaT: 0.504323 s, deltaX: -0.199999 m, approachRate: -0.396569 m/s, rangeRepo size: 4 ] Added new target pos. range: 27.481390 m, bearing: 267.807886 deg, lat: 36.779353 deg, lon: -121.859550 deg, deltaT: 0.504323 s, deltaX: -0.199102 m, approachRate: -0.394791 m/s, posRepo size: 4 eDNOT Ignoring new targets: 27.48 m.haha*ha"ha hagafififulBdqdyjd;@Zd!?yZ->Z->Z-kt@Z-6? I=>)  ji ~9)iiII MfAMfA9ԡE  E E ,E "E [I;*E O:VE g4ZE BE i Aྉ GῩ o? nF> !Z? >) ܢ?I  >Z^S?M뿃̊e? Y#) ~I ܢ?i  5 checking for new query: numPingsReceived=23, elapsed TxPingTime=13.614542^A ½I I O >3%,=ҕ?Ar+@r9@r0>ٱr̥" AHRS rotation from veh to nav: [[-0.961507,-0.233000,-0.145656],[0.236238,-0.971682,-0.005092],[-0.140345,-0.039306,0.989322]]rHͿޤ¿ =?bt?ir+@IrS^;pY%:tBy%1IQbD]VD] 3y=%I=ٔQ->9Y=\Fye<E>Q 5-y4?ם?Q 9-y4]h)VBY1y5=?Q I5?`CI;i:}y4y9ɮ=IA9iiȵ?AJi=ARi=Ajiu@b ^#boZ9@qs$@Rߋ2\ƿk[4?{.MZ?Ziܢ?bijnDahd9_#@Z0D!?2i:i$*"iŧ9?*i^BiBiaԀ?iiiAi@ addTargetRange:: Added new target pos. range: 27.900000 m, deltaT: 0.503648 s, deltaX: 0.299999 m, approachRate: 0.595653 m/s, rangeRepo size: 4 E Added new target pos. range: 27.780102 m, bearing: 264.128903 deg, lat: 36.779353 deg, lon: -121.859550 deg, deltaT: 0.503648 s, deltaX: 0.298712 m, approachRate: 0.593096 m/s, posRepo size: 4 EDNOT Ignoring new targets: 27.78 m.hAhI*hI"hI hIgIfIfQfQdQdQjdU`f;@Zd]@3?ZZZZ=?0>) ii@9)|iiIIԁchecking for new query: numPingsReceived=23, elapsed TxPingTime=13.849886,9N>i] 9@Y  @Y @] 4@Y @a @e =E  E E +E "E W;*E ]:VE [4ZE a @a @a @a @ ^AE [ּII m DDAT read: Rx Time:04:02:57.4464 u TRx dataTimestamp_ set to:1761537778.780776} PDAT read: Bearing 66.1, 69.7 (Local) } ~Local bearing/azimuth received: Bearing 66.1, 69.7 (Local)  DAT read: Range 11 to 50 : 27.8 m (trip time 18.5 ms) speed -0.1  DAT read: 04:02:57.4464 LVL= 14256, 14433, 25074, 25027, AGC= 50, IDX= 511, 0.12,-1.053,-1.689,-2.943,-1.433, PHS= 0.482,-0.211,-1.555, RAW= 49.5, 14.2, CAL= 45.8, 16.6, ROT= 104.2, -16.6  Ygot valid direction response: 04:02:57.4464 LVL= 14256, 14433, 25074, 25027, AGC= 50, IDX= 511, 0.12,-1.053,-1.689,-2.943,-1.433, PHS= 0.482,-0.211,-1.555, RAW= 49.5, 14.2, CAL= 45.8, 16.6, ROT= 104.2, -16.6  T#Rx 24: Read range and direction messages. ^direction in FSK: [-0.235084,0.929041,0.285688] Fpublishing direction and range infoyq u a58οi?WԷH?Yu fAq u 7u a8u a u a)q Iu >iu bXu = ǿu +]?u }>u L? u V>)u ?Iu Vq q I O >),,`?A ?e]-ٱ AHRS rotation from veh to nav: [[-0.962280,-0.229994,-0.145327],[0.233172,-0.972423,-0.004996],[-0.140170,-0.038694,0.989371]]HmpͿ¿?wtϣ?iC+@I=^;CYatByIII<)<BBBIBQsBB =BBB[;Bp:EBBBBBCD4ibD VD2y=%=ٔpQ->9Y=\Fy%!;E%>)Q 5]y4-tԝ?Q 9]y4-]f)-VBYYy]?Q I]?-`CI->;i-;-7y4yiɮmIAii i 5b:~q^@Z ūJ0?2i :i SM"i *nސ?*i ={!Bi Bi ^@x?i i Bi vAi @5 addTargetRange:: Added new target pos. range: 27.799999 m, deltaT: 0.504056 s, deltaX: -0.100000 m, approachRate: -0.198391 m/s, rangeRepo size: 4 E Added new target pos. range: 27.680555 m, bearing: 268.270566 deg, lat: 36.779353 deg, lon: -121.859550 deg, deltaT: 0.504056 s, deltaX: -0.099546 m, approachRate: -0.197491 m/s, posRepo size: 4 MDNOT Ignoring new targets: 27.68 m.hihq*hq"hq hqgqfqfyfydydyjd;@ZdJ?ԉZZZZ?;>) lgiw9)ii,5checking for new query: numPingsReceived=24, elapsed TxPingTime=14.353887II1% 9@!  @) @- 4@) E5  E5 E1 E1 "E5 M;*E5 :VE1 ZE1 BE5 3,!м?ADDAT read: Rx Time:04:02:57.9466 TRx dataTimestamp_ set to:1761537779.284627PDAT read: Bearing 51.8, 69.3 (Local) ~Local bearing/azimuth received: Bearing 51.8, 69.3 (Local) EDAT read: Range 11 to 50 : 28.1 m (trip time 18.7 ms) speed -0.1 mDAT read: 04:02:57.9466 LVL= 13360, 13105, 23698, 23283, AGC= 49, IDX= 513,-0.19, 2.292, 1.322, 0.029, 1.762, PHS= 0.632,-0.395,-1.777, RAW= 55.1, 14.6, CAL= 51.0, 17.9, ROT= 99.0, -17.9 uYgot valid direction response: 04:02:57.9466 LVL= 13360, 13105, 23698, 23283, AGC= 49, IDX= 513,-0.19, 2.292, 1.322, 0.029, 1.762, PHS= 0.632,-0.395,-1.777, RAW= 55.1, 14.6, CAL= 51.0, 17.9, ROT= 99.0, -17.9 uT#Rx 25: Read range and direction messages.}^direction in FSK: [-0.148862,0.939879,0.307357]Fpublishing direction and range infoy>: ÿ ^|?uY?YA0413\ Z)1I!?iq=ʾt㿩m0v?w>c? >) +?I"VO?3Yx [a? 琿)AI +?ichecking for new query: numPingsReceived=25, elapsed TxPingTime=14.626206Qm)N,@mC:@m >ٱmC }AHRS rotation from veh to nav: [[-0.963808,-0.223859,-0.144780],[0.226895,-0.973908,-0.004599],[-0.139973,-0.037282,0.989453]]mHf̿(¿ ?A*r`?im)N,@ImF^;mCYetByLIiMb@Mb@Mb@ 9~jt?L7A`V-Y=y+HA6A )MAY ?AbDVD:yX<%5=ٔtQ->9Y=\Fy:q<E>Q 5y4Dҝ?Q 9y4d){VBY)>Q E;y?Q I?aCI;i;y4y ɮ HA iiT7Ҽ?AJiARiAji@bmm{~L:@: ÿ ^|?uY?Zi +?bijN\uv::9 @Z.tQmZjH?2i:iG"iٍ˜?*i% BilBiaԀ?i% iiAi]@y addTargetRange:: Added new target pos. range: 28.100000 m, deltaT: 0.503851 s, deltaX: 0.300001 m, approachRate: 0.595416 m/s, rangeRepo size: 4  Added new target pos. range: 27.979267 m, bearing: 263.314201 deg, lat: 36.779353 deg, lon: -121.859550 deg, deltaT: 0.503851 s, deltaX: 0.298712 m, approachRate: 0.592857 m/s, posRepo size: 4 DNOT Ignoring new targets: 27.98 m.hh*h"h hgfffzBddjd<@Zd~?ZE)>ZE)>ZE@ZE?u >)y }hi}9)y}yiyieIIm9@i @i@m3@ichecking for new query: numPingsReceived=25, elapsed TxPingTime=14.858024Թ ^A (׵I I! O5 >r:,뼻?AEB EBEB.E@"EBB;*EB:VEBـ4ZE@aF@aF@aF@aF@YwtByWIbDVDyJ=%p=ٔQ-?9Y=\FyE?Q 5y4Н?Q 9y4Hc)nVBYyQ I?aCI;i;py4yɮHAB*** querying acoustic contact ***i i%DNOT Ignoring new targets: 27.98 m.h!h!*h)"h) h)g)f)f1f1d1d1jd1Zd=;?ZQZQZQZQi)i mgim|9)quqiqiyy}'IyI5DDAT read: Rx Time:04:02:58.4465 =TRx dataTimestamp_ set to:1761537779.789601MPDAT read: Bearing 48.8, 75.7 (Local) M~Local bearing/azimuth received: Bearing 48.8, 75.7 (Local) eDAT read: Range 11 to 50 : 27.9 m (trip time 18.6 ms) speed -0.1 DAT read: 04:02:58.4465 LVL= 14656, 13041, 25234, 24787, AGC= 49, IDX= 512, 0.37,-2.963, 2.364, 1.044, 2.634, PHS= 0.789,-0.225,-1.634, RAW= 54.6, 10.2, CAL= 52.0, 11.6, ROT= 98.0, -11.6 Ygot valid direction response: 04:02:58.4465 LVL= 14656, 13041, 25234, 24787, AGC= 49, IDX= 512, 0.37,-2.963, 2.364, 1.044, 2.634, PHS= 0.789,-0.225,-1.634, RAW= 54.6, 10.2, CAL= 52.0, 11.6, ROT= 98.0, -11.6 T#Rx 26: Read range and direction messages.^direction in FSK: [-0.136330,0.970042,0.201078]Fpublishing direction and range infoy15 kGsB+ ?o?Y53A15@9525b 5`)1I5I?i5fff5&ѿ5s?5K6>5Vh? 54QO>)5!?I54QO115_>?}qn]? 5 )5j5I5!?i54QO11checking for new query: numPingsReceived=26, elapsed TxPingTime=15.1373209@ @@/@@@^AuIIO;>BU<AU<B]>B]1CB]IB]sBB] =BYBYB];B]:E) checking for new query: numPingsReceived=26, elapsed TxPingTime=15.362660Q 0WA,o?Aʻ,@i:@uO>ٱ; 5AHRS rotation from veh to nav: [[-0.965370,-0.217237,-0.144458],[0.220456,-0.975375,-0.006471],[-0.139495,-0.038093,0.989490]]HP h˿}¿7?F6-z`?iʻ,@IL^;CYEttByEUI IIiMb@Mb@Mb@ 9EԸ?Q rhY=y\C DA )LAY>AbDVDy̬%G=ٔMQ->9Y=\Fy<E> Q 5y4 Ν?Q 9y4 a) ]VBY1>Q E;yG?Q I? "aCI : ;i : y4y%NBɮ%HA)1iiimӈ?AJim=ARim=AjimE@bm)LL%fU:@۸W@Rm kGsB+ ?o?Zim!?bim4QOjm yc';yͱ@Zmea;P̰TtG`+?2im=:imO@"imV_ќ?*img+BimIBimŧ9?iiiiimAimz@} addTargetRange:: Added new target pos. range: 27.900000 m, deltaT: 0.504974 s, deltaX: -0.200001 m, approachRate: -0.396062 m/s, rangeRepo size: 4   Added new target pos. range: 27.779959 m, bearing: 263.685626 deg, lat: 36.779338 deg, lon: -121.859550 deg, deltaT: 0.504974 s, deltaX: -0.199308 m, approachRate: -0.394690 m/s, posRepo size: 4  DNOT Ignoring new targets: 27.78 m.hh*h"h hgfffcBddjd%`f;@Zd%`?Ze1>Ze1>Ze/@ZecG?E EE2E"EI@;*EZ:VE4ZEBE) ei9)ii3AIIY}9@y @y@}/@EDDAT read: Rx Time:04:02:58.9467 MTRx dataTimestamp_ set to:1761537780.293127UPDAT read: Bearing 65.9, 70.3 (Local) U~Local bearing/azimuth received: Bearing 65.9, 70.3 (Local) eDAT read: Range 11 to 50 : 28.2 m (trip time 18.8 ms) speed -0.1 DAT read: 04:02:58.9467 LVL= 12816, 14385, 21858, 25331, AGC= 53, IDX= 2, 0.07,-1.162,-1.813,-3.053,-1.556, PHS= 0.496,-0.211,-1.541, RAW= 50.0, 13.9, CAL= 46.3, 16.2, ROT= 103.7, -16.2 Ygot valid direction response: 04:02:58.9467 LVL= 12816, 14385, 21858, 25331, AGC= 53, IDX= 2, 0.07,-1.162,-1.813,-3.053,-1.556, PHS= 0.496,-0.211,-1.541, RAW= 50.0, 13.9, CAL= 46.3, 16.2, ROT= 103.7, -16.2 T#Rx 27: Read range and direction messages.^direction in FSK: [-0.227434,0.932972,0.278991]Fpublishing direction and range infoyAEΔͿ!??YEAAE2E18EbU Eb)E5IE>iEbXE}?ſEf_?EUlx>EN? EÐ>)E?IEÐAAEgf;?_ z0[,? Ei)EdxIE?iEÐAAchecking for new query: numPingsReceived=27, elapsed TxPingTime=15.638690ԉ^A CI I O >Ա OG,?A6q,@6:@6O&>ٱ6 >AHRS rotation from veh to nav: [[-0.966109,-0.213938,-0.144447],[0.217299,-0.976075,-0.007719],[-0.139340,-0.038846,0.989482]]6H\ Nb˿>}¿p?<: @㣿ש?i6q,@I6;^;6CYZtByZgIbDfVDfk1yn=%n^=ٔn߹Q-n>9pYp=r\Fypr<Ev>tQ 5zy4v̝?Q 9~y4v `)vMVBY|y~?Q I~?v2aCIv;iv;vy4yɮ 0HA iqiu?AJiuARiuAjiu0 @buUO]V2:@mKU@RuΔͿ!??Ziu?biuÐjuN-7r; O+y~@Zu~+ŧ-@G X`?2iu$:iu"iu* ?*iu1&BiuBiqiu={!iuBiucAiuǓ@checking for new query: numPingsReceived=27, elapsed TxPingTime=15.866650 addTargetRange:: Added new target pos. range: 28.200001 m, deltaT: 0.503526 s, deltaX: 0.300001 m, approachRate: 0.595801 m/s, rangeRepo size: 4 U Added new target pos. range: 28.078669 m, bearing: 268.799077 deg, lat: 36.779338 deg, lon: -121.859550 deg, deltaT: 0.503526 s, deltaX: 0.298710 m, approachRate: 0.593236 m/s, posRepo size: 4 eDNOT Ignoring new targets: 28.08 m.haԑha*h"h hgfffdd jd@33<@Zd6?ZZZZ?O&>) Yci9)ȷi9iAAE›IAII UUIU)UԹ=9@9 @9@=/@9D=D4=bEjE^n4rEƶC0E EE+E"EL;*Eg:VE [4ZEa@a@a@a@M DDAT read: Rx Time:04:02:59.4467 M TRx dataTimestamp_ set to:1761537780.796654] PDAT read: Bearing 64.5, 70.1 (Local) ] ~Local bearing/azimuth received: Bearing 64.5, 70.1 (Local) m DAT read: Range 11 to 50 : 28.2 m (trip time 18.8 ms) speed -0.1  DAT read: 04:02:59.4467 LVL= 14560, 16225, 25362, 28147, AGC= 51, IDX= 498,-0.16, 2.467, 1.799, 0.581, 2.072, PHS= 0.497,-0.228,-1.535, RAW= 50.6, 14.1, CAL= 46.8, 16.5, ROT= 103.2, -16.5  Ygot valid direction response: 04:02:59.4467 LVL= 14560, 16225, 25362, 28147, AGC= 51, IDX= 498,-0.16, 2.467, 1.799, 0.581, 2.072, PHS= 0.497,-0.228,-1.535, RAW= 50.6, 14.1, CAL= 46.8, 16.5, ROT= 103.2, -16.5  T#Rx 28: Read range and direction messages. ^direction in FSK: [-0.218947,0.933487,0.284015] Fpublishing direction and range infoyI M mw̿|n?HN-?YI I M 8M a?M c M m)M 3IM v>iM xiM zĿM =b?M d{>M Q? M r>)M ?IM rI I M ?e ,!ǡ'? M )M u{IM ?iM rI I  checking for new query: numPingsReceived=28, elapsed TxPingTime=16.134422^A I I O > BU >BQ BU IBU sBBU =BQ BQ BU Ą;BU :E`M,9?A2--@2#;@2>ٱ2" ^AHRS rotation from veh to nav: [[-0.966944,-0.210273,-0.144240],[0.213740,-0.976851,-0.008799],[-0.139051,-0.039338,0.989504]]2H3`=ʿsv¿[?\B@Zh&$?i2--@I2yT^;2CYftByftIbDrVDrfy%K=%-D=ٔ57Q->9Y=\Fy<E>aQ 5y4e|ʝ?Q 9y4e*^)e9VBYy.?Q I ?eEaCIeҴ) bi9)=cϷ9i9iRII9@ @@/@@=@=) E  E E .E "E <;*E :VE ـ4ZE BE ÓE 4QO? E Ð>)E q?IE ÐA A E $O?.)E 3xIE q?iE ÐA A  checking for new query: numPingsReceived=29, elapsed TxPingTime=16.638565I O >nT,˿T?A4<ɰ49Y=\FyE> Q 5y4 iȝ?Q 9y4 X\) $VBYB/>Q E;y?Q I? XaCI e:i : y4yAɮEGAIii@S?AJi8ARi8AjiQ1@b./~c`d:@RA#@R-41̿@p#&??Ziq?biÐj:4zo࿖x7;K@ZBT"xТԣS?2i:i{"i/!?*i6(BiBii1&iBiWAi @ addTargetRange:: Added new target pos. range: 28.400000 m, deltaT: 0.504183 s, deltaX: 0.199999 m, approachRate: 0.396679 m/s, rangeRepo size: 4   Added new target pos. range: 28.277666 m, bearing: 268.918895 deg, lat: 36.779354 deg, lon: -121.859553 deg, deltaT: 0.504183 s, deltaX: 0.199139 m, approachRate: 0.394973 m/s, posRepo size: 4  DNOT Ignoring new targets: 28.28 m.h h*h!"h! h!g!f!f)f-Bd)d)jd-`ff<@Zd5ׂ?ZUB/>ZUB/>ZUũ@ZU?) ei9)額ַiioIIԹQ@Q @Q@U0@Ychecking for new query: numPingsReceived=29, elapsed TxPingTime=16.874781^A} ÞI I O >D zD @AE  E E E "E sH;*E :VE ZE  a @a @a @a @[,n?A2-@2;@2 >ٱ2j :AHRS rotation from veh to nav: [[-0.968472,-0.203947,-0.143066],[0.207328,-0.978230,-0.008976],[-0.138121,-0.038355,0.989672]]2HʿO¿?M.bAe?i2-@I2`^;2CYBtByBxIbDJVDJ\yR%Vw=ٔV9Q-V?9XYX=Z\FyXZn<EZ?\Q 5by4^Ɲ?Q 9fy4^[)^VBYdyf?Q If?^faCI^:i^:^y4yhɮjGAlDNOT Ignoring new targets: 28.28 m.hh*h"h hgfffddjdZd@?ZZZZ? >) Iei9)%ݷiibIIeDDAT read: Rx Time:04:03:00.4467 eTRx dataTimestamp_ set to:1761537781.804874mPDAT read: Bearing 68.1, 70.4 (Local) u~Local bearing/azimuth received: Bearing 68.1, 70.4 (Local) DAT read: Range 11 to 50 : 28.2 m (trip time 18.8 ms) speed -0.2 DAT read: 04:03:00.4467 LVL= 13584, 14113, 27074, 28611, AGC= 50, IDX= 498, 0.16, 3.098, 2.459, 1.208, 2.703, PHS= 0.497,-0.199,-1.539, RAW= 49.7, 13.8, CAL= 46.0, 16.0, ROT= 104.0, -16.0 Ygot valid direction response: 04:03:00.4467 LVL= 13584, 14113, 27074, 28611, AGC= 50, IDX= 498, 0.16, 3.098, 2.459, 1.208, 2.703, PHS= 0.497,-0.199,-1.539, RAW= 49.7, 13.8, CAL= 46.0, 16.0, ROT= 104.0, -16.0 T#Rx 30: Read range and direction messages.^direction in FSK: [-0.232550,0.932708,0.275637]Fpublishing direction and range infoyae6 4Ϳx? ?YeAae5e!7ei eo)e2IaieKeĿe^?eϢv>eM? e5>)eV?Ie5aaemVl?+ǤEVAo? em))euIeV?ie5aa=checking for new query: numPingsReceived=30, elapsed TxPingTime=17.1545339@ @@/@AAAE@ABM>BM0CBMIBMsBBIBIBMDBM„;BM:E!^AI I1OU>I  checking for new query: numPingsReceived=30, elapsed TxPingTime=17.378611b,c?A:7-@:;@: \ >ٱ: BAHRS rotation from veh to nav: [[-0.969236,-0.200723,-0.142452],[0.204074,-0.978913,-0.009164],[-0.137608,-0.037953,0.989759]]:H@Mɿ;¿@?`@SĂ 'n?i:7-@I:C^;:CYJtByJ}IiMb@Mb@Mb@ 9L7A`?p= ף{GzY+=yEA6A Z0A)MAYf>AbD5VD5kyE<%EA=ٔEQ-M>9IYI=M\FyIUo<EU>YQ 5ez4]ŝ?Q 9ez4]pY)]VBYe>Q Ee;ye?Q Im?]uaCI]:i]:]Xz4yqɮuGAqiis?AJiARiAji–@bt٬O[hNU0:@%'K(@R6 4Ϳx? ?ZiV?bi5j@@54:= ;Z/jIB@Z`Qی،>?2iQ:i"i1z$Ý?*iVT Bi|Bi* ?iiBi0Ai:@ addTargetRange:: Added new target pos. range: 28.200001 m, deltaT: 0.504037 s, deltaX: -0.199999 m, approachRate: -0.396794 m/s, rangeRepo size: 4  Added new target pos. range: 28.078239 m, bearing: 269.935422 deg, lat: 36.779356 deg, lon: -121.859553 deg, deltaT: 0.504037 s, deltaX: -0.199427 m, approachRate: -0.395659 m/s, posRepo size: 4 UDNOT Ignoring new targets: 28.08 m.hQhQ*hQ"hY hYgYfYfafeBdadajde@33<@Zdm?Z>Z>ZYԥ@Z'?E EE)E"Ey>;*E:VEFA4ZEBEU) ff9liAYAif9)顥䷉ii^8IImDDAT read: Rx Time:04:03:00.9469 uTRx dataTimestamp_ set to:1761537782.308826}PDAT read: Bearing 66.9, 70.4 (Local) ~Local bearing/azimuth received: Bearing 66.9, 70.4 (Local) DAT read: Range 11 to 50 : 28.5 m (trip time 19.0 ms) speed -0.1 DAT read: 04:03:00.9469 LVL= 13536, 14689, 26162, 26275, AGC= 51, IDX= 500,-0.09, 2.855, 2.201, 0.976, 2.458, PHS= 0.499,-0.212,-1.526, RAW= 50.3, 13.8, CAL= 46.6, 16.1, ROT= 103.4, -16.1 Ygot valid direction response: 04:03:00.9469 LVL= 13536, 14689, 26162, 26275, AGC= 51, IDX= 500,-0.09, 2.855, 2.201, 0.976, 2.458, PHS= 0.499,-0.212,-1.526, RAW= 50.3, 13.8, CAL= 46.6, 16.1, ROT= 103.4, -16.1 T#Rx 31: Read range and direction messages.^direction in FSK: [-0.222659,0.934623,0.277315]Fpublishing direction and range infoyqu`̿n?/?YuAqu4ua9u2f uf)u3Iu|>iuYuSÿu`?qu5P? uޏ>)uq?IuޏqquZu:?D 'tU7՘? u՛)uT+wIuq?iuޏqqchecking for new query: numPingsReceived=31, elapsed TxPingTime=17.6461339@ @@@@@hAԁԩ ^A 8I I) O5 >0,h,EG?AٱRnchecking for new query: numPingsReceived=31, elapsed TxPingTime=17.883896 AHRS rotation from veh to nav: [[-0.969978,-0.197605,-0.141755],[0.200974,-0.979548,-0.009713],[-0.136936,-0.037910,0.989854]]RH Kɿ@%¿@?uX@M䃿"h?iR.@IRu3^;RCYtByI bDeVDe1y <%6=ٔƺQ->9Y=\Fy;E>Q 5z4vĝ?Q 9z4W)UBYy2?Q I?aCIB:i:-z4y ɮ ~GA iiÓ?AJiARiAji@bꯗFv:@04z@R`̿n?/?Ziq?biޏj`}R%$Ϳ=[ֱYS; Rژ@ZbPnMD}@*8u@?2i:i!i"i\mG?*iC~&BiBi/!?iC~&iBiAi?@ addTargetRange:: Added new target pos. range: 28.500000 m, deltaT: 0.503952 s, deltaX: 0.299999 m, approachRate: 0.595293 m/s, rangeRepo size: 4 ԩ Added new target pos. range: 28.376944 m, bearing: 269.522646 deg, lat: 36.779356 deg, lon: -121.859552 deg, deltaT: 0.503952 s, deltaX: 0.298704 m, approachRate: 0.592723 m/s, posRepo size: 4 DNOT Ignoring new targets: 28.38 m.hh*h"h hgfffddjd<@Zd @H?Z)Z)Z)Z-2?=9 >)9 =eiE9)a췉iizIIE9 EE.E"Eso;*E:VEـ4ZEa@a@a@a@9@ @@@uDDAT read: Rx Time:04:03:01.4469 }TRx dataTimestamp_ set to:1761537782.812713PDAT read: Bearing 67.4, 70.9 (Local) ~Local bearing/azimuth received: Bearing 67.4, 70.9 (Local) DAT read: Range 11 to 50 : 28.5 m (trip time 19.0 ms) speed -0.1 DAT read: 04:03:01.4469 LVL= 13040, 14097, 24546, 25651, AGC= 50, IDX= 500,-0.46, 2.174, 1.515, 0.283, 1.764, PHS= 0.512,-0.204,-1.525, RAW= 50.3, 13.5, CAL= 46.7, 15.7, ROT= 103.3, -15.7 Ygot valid direction response: 04:03:01.4469 LVL= 13040, 14097, 24546, 25651, AGC= 50, IDX= 500,-0.46, 2.174, 1.515, 0.283, 1.764, PHS= 0.512,-0.204,-1.525, RAW= 50.3, 13.5, CAL= 46.7, 15.7, ROT= 103.3, -15.7 T#Rx 32: Read range and direction messages.^direction in FSK: [-0.221467,0.936871,0.270600]Fpublishing direction and range infoyy}Y̿-"i?RlyQ?Yyy}2}7}_ }3d)}2I}o?i}`P}33ÿy}:Fq>}YP? }K>)}A?I}Kyy}ڎ?$g/M(? }aǛ)}]qI}A?i}Kyychecking for new query: numPingsReceived=32, elapsed TxPingTime=18.150736 ^A 5I1 BA BA BE IBE sBBE =BA BA BE ;BE :EIa Om >Tn,?Ap5.@!+<@ >ٱ UAHRS rotation from veh to nav: [[-0.970622,-0.194795,-0.141235],[0.198231,-0.980099,-0.010542],[-0.136371,-0.038230,0.989920]]H`V ȿ¿_?\@tӒl?i5.@I4K^;CYtByIchecking for new query: numPingsReceived=32, elapsed TxPingTime=18.388662iMb@Mb@Mb@ 9+?y&1&1Y=y`彙P /A)zJAYp=AbDVDy=%=ٔyQ-%>9!Y!=%]Fy!-޳;E->1Q 5=z45q?Q 9]z45V)5UBY]2>Q E];y]?Q Ie?5aCI5;i5;5!#z4yiɮm;GAiii}?AJiRiji@ba#9:@R^v@RY̿-"i?RlyQ?ZiA?biKjxgOĿ<(Eb;&\KG@Z^w! %{V?2i:i='"i'?*iN&BiIBi\mG?iN&iiAi@ addTargetRange:: Added new target pos. range: 28.500000 m, deltaT: 0.503887 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 - Added new target pos. range: 28.376911 m, bearing: 269.658279 deg, lat: 36.779358 deg, lon: -121.859552 deg, deltaT: 0.503887 s, deltaX: -0.000032 m, approachRate: -0.000064 m/s, posRepo size: 4 -DNOT Ignoring new targets: 28.38 m.h1h11*h1"hQ hQgQfYfYf]{BdYdajdaZde?Z2>Z2>ZJC@ZL?U >)Q Ubi]9)Y]YiYiaae%qIaIiE  EE1E"ED;*E#:VE-4ZEBEњi R Fÿ f_? Ϣv> N? ޏ>) ?I ޏ pR6?s95k? x) yvI ?i ޏ  checking for new query: numPingsReceived=33, elapsed TxPingTime=18.653963U _9Y ԑ 9@ @@+0@@=@=Թ^A5|]DDAT read: Rx Time:04:03:02.4470 eTRx dataTimestamp_ set to:1761537783.573517uchecking for new query: numPingsReceived=33, elapsed TxPingTime=18.897945IIO'? y,A-潻?Aeb`.@eV<@eh >ٱe9Y=]Fy|;E>Q 5z4i?Q 9z4^T)UBYy?Q I?aCI;i;5z4yɮ]GAiigDԽ?AJiARiAji@bT,dq໔:@2@RT ͿF?/?Zi?biޏjLN2T?]6;T9@Z̦/e?6 @M/QP>?2i':iZ="iƝ?*ii1(BiɉBi'?iC~&iiAi\@ addTargetRange:: Added new target pos. range: 28.700001 m, deltaT: 0.503962 s, deltaX: 0.200001 m, approachRate: 0.396857 m/s, rangeRepo size: 4  Added new target pos. range: 28.576048 m, bearing: 270.153868 deg, lat: 36.779359 deg, lon: -121.859552 deg, deltaT: 0.503962 s, deltaX: 0.199137 m, approachRate: 0.395142 m/s, posRepo size: 4 DNOT Ignoring new targets: 28.58 m.hh*h"h hgff!f)d)d)jd5@3<@Zd50?ZZZZ?E%  E%E%*E!"E%F;*E%L:VE%(N4ZE!a5@a5@a5@a5@h >) ci 9)顥ii`hII1PDAT read: Bearing 67.6, 70.6 (Local) ~Local bearing/azimuth received: Bearing 67.6, 70.6 (Local) DAT read: Range 11 to 50 : 28.7 m (trip time 19.1 ms) speed -0.1 -DAT read: 04:03:02.4470 LVL= 14400, 15985, 25554, 27347, AGC= 51, IDX= 501,-0.23, 1.800, 1.142,-0.076, 1.399, PHS= 0.503,-0.212,-1.519, RAW= 50.4, 13.7, CAL= 46.7, 16.0, ROT= 103.3, -16.0 5Ygot valid direction response: 04:03:02.4470 LVL= 14400, 15985, 25554, 27347, AGC= 51, IDX= 501,-0.23, 1.800, 1.142,-0.076, 1.399, PHS= 0.503,-0.212,-1.519, RAW= 50.4, 13.7, CAL= 46.7, 16.0, ROT= 103.3, -16.0 5T#Rx 34: Read range and direction messages.=^direction in FSK: [-0.221138,0.935480,0.275637]EFpublishing direction and range infoyg@N̿Or? ?Y@8q>c j)I?iYn¿z0a?Gt>YP? 5>)A?I56?eK"&ze? y)QuIA?i5]checking for new query: numPingsReceived=34, elapsed TxPingTime=19.1594689@ @@x3@a B >B B IB sBB B B B k;B w:EBM0CBM1CBIBIBICMɱ4^A hpI I O >A,@?A .@<@ >ٱJ AHRS rotation from veh to nav: [[-0.971869,-0.189419,-0.139971],[0.192967,-0.981131,-0.012096],[-0.135038,-0.038765,0.990082]]H>ȿ`!?@le@ňH ٣?i.@IT^;CeDDAT read: Rx Time:04:03:02.9471 mTRx dataTimestamp_ set to:1761537784.077636PDAT read: Bearing 70.0, 70.7 (Local) ~Local bearing/azimuth received: Bearing 70.0, 70.7 (Local) checking for new query: numPingsReceived=34, elapsed TxPingTime=19.405809YtByIiMb@Mb@Mb@ 9 ףp= ?bX9ȶV-YQ=yEmCAn4A )Y9Y=]FyT;E>Q 5z4?Q 9z4R)UBY>Q E;y@Q I?aCIe ;iz ;wGz4yɮIGAi i |?AJi Ri ji Ė@b :F&s:@Sँ@R g@N̿Or? ?Zi A?bi 5j )+\8&;gmOOv@Z @X>L6TV [?2i W:i ɼ"i ǎ?*i kW'Bi Bi ǎ?i i Bi Ai Ė@ addTargetRange:: Added new target pos. range: 28.700001 m, deltaT: 0.503441 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4   Added new target pos. range: 28.575974 m, bearing: 269.948762 deg, lat: 36.779359 deg, lon: -121.859552 deg, deltaT: 0.503441 s, deltaX: -0.000074 m, approachRate: -0.000148 m/s, posRepo size: 4  DNOT Ignoring new targets: 28.58 m.hh*h"h hgfff`Bdd!jd!Zd%W?ZE>ZE>ZE@ZE@U >)Y ]\_i]9)Y]8Yiaiaam#_IiIiE= E=E9E9"E=<;*E=:VE9ZE9BE=Ó M? K>) f?I K K.?kHDO? d) KrI f?i K U checking for new query: numPingsReceived=35, elapsed TxPingTime=19.659710^AM hIY Ii Ou >,4?A>.@>F<@>) >ٱ> JAHRS rotation from veh to nav: [[-0.972415,-0.187018,-0.139403],[0.190563,-0.981596,-0.012417],[-0.134516,-0.038640,0.990158]]>H@`1ǿ `bd?.@I>g=^;>CYRtByRIbDZVDZFybX?=%b=ٔbSQ-b?9dYd=f]Fydj<Ej?lQ 5rz4n?Q 9rz4nR)nzUBYpyr@Q Ir?naCIn:inN:n|Qz4yxɮzGAxii?AJigARigAji$5@bӆ:@? @RYͿn?RlyQ?Zif?biKj?Y ; >(@Zׄb?DI,=8?2iP:i>"iڝ?*i;)BiBiikW'iiAiɖ@E addTargetRange:: Added new target pos. range: 28.799999 m, deltaT: 0.503710 s, deltaX: 0.099998 m, approachRate: 0.198524 m/s, rangeRepo size: 4 ] Added new target pos. range: 28.675539 m, bearing: 270.736131 deg, lat: 36.779359 deg, lon: -121.859553 deg, deltaT: 0.503710 s, deltaX: 0.099566 m, approachRate: 0.197664 m/s, posRepo size: 4 ]DNOT Ignoring new targets: 28.68 m.hYhY*hY"hY hagafafafididijdm<@Zdu ?ZZZZ@m) >)i m^im9)im3iiqiqy}~VIyIy gAfAAmM9Iy)yEDDAT read: Rx Time:04:03:03.4471 UTRx dataTimestamp_ set to:1761537784.581035mPDAT read: Bearing 68.6, 71.0 (Local) u~Local bearing/azimuth received: Bearing 68.6, 71.0 (Local) DAT read: Range 11 to 50 : 28.8 m (trip time 19.2 ms) speed 0.0 Z#Rx 36: Read range message, but no direction.yIYIIchecking for new query: numPingsReceived=36, elapsed TxPingTime=19.9184519@! @!@-/@)@EhA@EgAqE%  E! E% +E! "E% E;*E! VE% [4ZE! a- @a- @a5 @a5 @^A} |^I ԙ I O > DAT read: 04:03:03.4471 LVL= 16064, 14961, 25282, 26259, AGC= 51, IDX= 502,-0.29, 2.574, 1.915, 0.695, 2.163, PHS= 0.514,-0.203,-1.511, RAW= 50.4, 13.4, CAL= 46.8, 15.6, ROT= 103.2, -15.6  Ygot valid direction response: 04:03:03.4471 LVL= 16064, 14961, 25282, 26259, AGC= 51, IDX= 502,-0.29, 2.574, 1.915, 0.695, 2.163, PHS= 0.514,-0.203,-1.511, RAW= 50.4, 13.4, CAL= 46.8, 15.6, ROT= 103.2, -15.6  Z#Rx 37: Read direction message, but no range. ^direction in FSK: [-0.219939,0.937715,0.268920]y  v&̿ b?]^|5? > q: b f) 3I ?i ;O sh z0a? |o> Q? 'g>) ?I 'g =\? [*EB_ѳ? h) #oI ?i 'g checking for new query: numPingsReceived=37, elapsed TxPingTime=20.159218݌,Q5?A@F.@FP<@F >ٱF NAHRS rotation from veh to nav: [[-0.972906,-0.184906,-0.138795],[0.188438,-0.982004,-0.012643],[-0.133960,-0.038455,0.990240]]FH` "ǿ ?l䉿%_ ?iF.@IF:a^;DYvtByvI xxbD-VD-:yE7%EC=ٔEQ-E>9IYI=M]FyIU1;EU>QQ 5]z4U九?Q 9ez4UP)U^UBYaye@Q Ie?UaCIU:iU|:U`z4yyɮ}GAyii/%?AJiRiji@bW;:}ݶ:@}~@Rv&̿ b?]^|5?Zi?bi'gjD)! %^i%9)!%!i)i)15ܸOI1I1ԩ]DDAT read: Rx Time:04:03:03.9471 mTRx dataTimestamp_ set to:1761537785.084882u9PDAT read: Bearing 70.3, 70.8 (Local) ~Local bearing/azimuth received: Bearing 70.3, 70.8 (Local) DAT read: Range 11 to 50 : 28.8 m (trip time 19.2 ms) speed 0.0 %Z#Rx 38: Read range message, but no direction.yaYaachecking for new query: numPingsReceived=38, elapsed TxPingTime=20.446192M 9@I  @I @M 4@I  E=  E= E= 0E9 "E= 8;*E= :VE= 4ZE9 BE= ؏݆,R?ANT&/@N=@N& >ٱN VAHRS rotation from veh to nav: [[-0.973951,-0.180429,-0.137348],[0.184042,-0.982819,-0.013965],[-0.132468,-0.038879,0.990424]]NH*Oǿ?`As磿?iNT&/@IN8^;NCY^tBy^I5DAT read: 04:03:03.9471 LVL= 13776, 13905, 28514, 27795, AGC= 51, IDX= 502, 0.03,-2.079,-2.722, 2.325,-2.482, PHS= 0.505,-0.195,-1.521, RAW= 49.9, 13.5, CAL= 46.3, 15.7, ROT= 103.7, -15.7 =Ygot valid direction response: 04:03:03.9471 LVL= 13776, 13905, 28514, 27795, AGC= 51, IDX= 502, 0.03,-2.079,-2.722, 2.325,-2.482, PHS= 0.505,-0.195,-1.521, RAW= 49.9, 13.5, CAL= 46.3, 15.7, ROT= 103.7, -15.7 EZ#Rx 39: Read direction message, but no range.E^direction in FSK: [-0.228002,0.935302,0.270600]yoB+/Ϳ4+?RlyQ?5Q6bo l)IG?iG!¿^?:Fq>N? K>)?IK1Ǫ*?.rB ?? A)kqI?iKechecking for new query: numPingsReceived=39, elapsed TxPingTime=20.663475iUMb@Mb@Mb@QQQQ Q9U{Gz?~jtv/YUף=yUUxiU"CAU3A U-A)UKKAQYU;AԁbDmVDmβy 3=%=ٔ]@Q->9Y=]Fy<E%>AQ 5Mz4Eo?Q 9Uz4EO)E"iq>pޝ?*i;'Bi{BiƝ?iiiAiE@ addTargetRange:: Added new target pos. range: 28.799999 m, deltaT: 0.503847 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 E Added new target pos. range: 28.675488 m, bearing: 270.958257 deg, lat: 36.779360 deg, lon: -121.859553 deg, deltaT: 0.503847 s, deltaX: -0.000051 m, approachRate: -0.000102 m/s, posRepo size: 4 MDNOT Ignoring new targets: 28.68 m.hIhI*hI"hI hIgIfQfQfUXBdQdyjdyZd}?Z[=Z[=Z῰@ZF@& >) (\i9) ii&@IIԱ9@ @@/@DDAT read: Rx Time:04:03:04.4470  TRx dataTimestamp_ set to:1761537785.590390 PDAT read: Bearing 69.7, 70.6 (Local) % ~Local bearing/azimuth received: Bearing 69.7, 70.6 (Local) M DAT read: Range 11 to 50 : 28.7 m (trip time 19.1 ms) speed 0.0 ] Z#Rx 40: Read range message, but no direction.yYA checking for new query: numPingsReceived=40, elapsed TxPingTime=20.931559^A QOI I O > R,/l?AR2E/@R:=@R>ٱRv! ^AHRS rotation from veh to nav: [[-0.974352,-0.178561,-0.136946],[0.182217,-0.983151,-0.014540],[-0.132043,-0.039121,0.990472]]RH -ƿtR?u@)Ǎ@`?iR2E/@IRK^;PYvtByvIbD~VD~y M=% s=ٔ RQ- ?9Y=]FyZ;E?!Q 5-z4%ٵ?Q 9-z4%N)%&UBY)y-g@Q I-?%aCI%:i%:%}z4y9ɮ=FA9m addTargetRange:: Added new target pos. range: 28.700001 m, deltaT: 0.505508 s, deltaX: -0.099998 m, approachRate: -0.197818 m/s, rangeRepo size: 4 mDNOT Ignoring new targets: 28.68 m.hqhq*hq"hqbEt4jEp4rEZ0Ey E}E},Ey"Ey*E}:VE}g4ZEya@a@a@a@ hqgfffddjd@3<@Zd |?ZZZZg@>) [id9)iicR:II9@ @@/@@@=]DAT read: 04:03:04.4470 LVL= 15488, 14513, 25490, 24355, AGC= 51, IDX= 501, 0.25,-2.505, 3.122, 1.894,-2.909, PHS= 0.505,-0.207,-1.525, RAW= 50.2, 13.7, CAL= 46.6, 15.9, ROT= 103.4, -15.9 eYgot valid direction response: 04:03:04.4470 LVL= 15488, 14513, 25490, 24355, AGC= 51, IDX= 501, 0.25,-2.505, 3.122, 1.894,-2.909, PHS= 0.505,-0.207,-1.525, RAW= 50.2, 13.7, CAL= 46.6, 15.9, ROT= 103.4, -15.9 mZ#Rx 41: Read direction message, but no range.u^direction in FSK: [-0.222882,0.935559,0.273959]y)-Pa̿;C?ψ.?)-<-8-c -#_))I)i-S-33ÿ-K`?-Gt>-5P? -q>)-q?^A-BIIO>I-q)-\"~?$k-M>? -@㛿)-DtI-q?i-qchecking for new query: numPingsReceived=41, elapsed TxPingTime=21.176081BBBIBtBB =BBB4;B?:EA  DDAT read: Rx Time:04:03:04.9472  TRx dataTimestamp_ set to:1761537786.091364= PDAT read: Bearing 69.5, 70.8 (Local) E ~Local bearing/azimuth received: Bearing 69.5, 70.8 (Local) ז,i?A4bDAT read: Range 11 to 50 : 29.0 m (trip time 19.3 ms) speed 0.0 5DAT read: 04:03:04.9472 LVL= 12528, 13585, 25266, 24563, AGC= 51, IDX= 503,-0.45,-1.931,-2.592, 2.472,-2.343, PHS= 0.514,-0.204,-1.512, RAW= 50.4, 13.4, CAL= 46.9, 15.6, ROT= 103.1, -15.6 EYgot valid direction response: 04:03:04.9472 LVL= 12528, 13585, 25266, 24563, AGC= 51, IDX= 503,-0.45,-1.931,-2.592, 2.472,-2.343, PHS= 0.514,-0.204,-1.512, RAW= 50.4, 13.4, CAL= 46.9, 15.6, ROT= 103.1, -15.6 ET#Rx 42: Read range and direction messages.M^direction in FSK: [-0.218302,0.938097,0.268920]MFpublishing direction and range infoy!%oR˿{Fk?]^|5?u*g/@u\=@u >ٱu# AHRS rotation from veh to nav: [[-0.974799,-0.176479,-0.136465],[0.180209,-0.983508,-0.015386],[-0.131499,-0.039590,0.990525]]uH 1ܖƿ w?x@)E`b?iu*g/@Iud:^;uCYyI%=)p%Q? %'g>)%S?I%'g!!%V?s0Uj)4XG? %\)%pI%S?i%'g!!checking for new query: numPingsReceived=42, elapsed TxPingTime=21.488304i]Mb@Mb@Mb@YYYԁY Y9]333333?i|?5:vY]=y]q]T]@A]2A ]-A)]IAYY]:AbDVDk1y#f:%&=ٔeQ->9Y=]Fyk;E>Q 5 z4?Q 9 z4M)UBY=Q E;yx@Q I?aCI:iz:?z4yɮFA!E EE.E"E=;*EL:VEـ4ZEBE"i%Õ-͝?*i%%l+Bi%eBi%Õ-͝?i%WP)i%{Bi%rAi%%@ addTargetRange:: Added new target pos. range: 29.000000 m, deltaT: 0.500974 s, deltaX: 0.299999 m, approachRate: 0.598832 m/s, rangeRepo size: 4  Added new target pos. range: 28.874666 m, bearing: 270.625543 deg, lat: 36.779361 deg, lon: -121.859554 deg, deltaT: 1.006482 s, deltaX: 0.199179 m, approachRate: 0.197896 m/s, posRepo size: 4 ]DNOT Ignoring new targets: 28.87 m.hYhY*hY"hY hYgafafafe8Bdidijdm=@ZdmhX?Z=Z=Zj@Z0x@ >)  Wi9)ii#4IIԱ5%=5=Echecking for new query: numPingsReceived=42, elapsed TxPingTime=21.6627909@ @@/@ ^A I I O% >,s?A2}/@2Ns=@2>>ٱ2$ :AHRS rotation from veh to nav: [[-0.975095,-0.175107,-0.136115],[0.178879,-0.983743,-0.015895],[-0.131119,-0.039847,0.990566]]2H3iƿ6l}? z`Ff?i2}/@I2FW^;2CYB uByBIbDNVDN02yZU=%Z=`ٔ^OQ-f?9hYh=j]Fylzf;E~?Q 5z4?Q 9z4hM)TBYy@Q I?aCI>) gViq9)iiZ/II9@ @@ 0@D%=DE EE,E"EI@;*E:VEg4ZEa@a@a@a@u DAT read: 04:03:05.4471 LVL= 12192, 13857, 27282, 24291, AGC= 50, IDX= 502,-0.24, 2.624, 1.968, 0.734, 2.199, PHS= 0.527,-0.186,-1.509, RAW= 50.2, 13.0, CAL= 46.8, 15.0, ROT= 103.2, -15.0 } Ygot valid direction response: 04:03:05.4471 LVL= 12192, 13857, 27282, 24291, AGC= 50, IDX= 502,-0.24, 2.624, 1.968, 0.734, 2.199, PHS= 0.527,-0.186,-1.509, RAW= 50.2, 13.0, CAL= 46.8, 15.0, ROT= 103.2, -15.0  Z#Rx 44: Read direction message, but no range. ^direction in FSK: [-0.220570,0.940405,0.258819]yA E O;̿=>?V!}?A E /E !6E j E ^)E 2IE y?iE v>E &E K`?E Vh>E Q? E >)E ?IE A E nބ?+ Cu[`Y? E .)E 6?hIE ?iE  checking for new query: numPingsReceived=44, elapsed TxPingTime=22.177729^A G5Ա I I O >,R?AB&>B$B&2IB&:tBB$B$B$B&1;B&;:ERM/@R=@R>ٱR& ^AHRS rotation from veh to nav: [[-0.975566,-0.172949,-0.135500],[0.176774,-0.984111,-0.016629],[-0.130471,-0.040175,0.990638]]RH7`1#ƿX@?}$G`ܑN?iRM/@IRz@^;PY=uBy=IbDMVDMy]=%]@=ٔeɺQ-e>9aYi=m]Fyim;Em>yqQ 5z4u?Q 9z4uL)uTBYy@Q I?ubCIu;iu1:uz4yɮEAii.?AJigARigAji_@b_ w:L0Vm:@ݯ@RO;̿=>?V!}?Zi?bi j{?Tk; JZ`@Zv ,)a eZUi9)顝ii (II --I1)1ԩiIDDAT read: Rx Time:04:03:05.9472 TRx dataTimestamp_ set to:1761537787.104240 PDAT read: Bearing 69.7, 70.2 (Local) ~Local bearing/azimuth received: Bearing 69.7, 70.2 (Local) 5DAT read: Range 11 to 50 : 29.0 m (trip time 19.3 ms) speed 0.0 MZ#Rx 45: Read range message, but no direction.yYAechecking for new query: numPingsReceived=45, elapsed TxPingTime=22.4418569@ @@N1@@gA@ E GY q E  E E -E "E ,K;*E d:VE t4ZE BE M 9 Y pA #ϴ,+Ծ?A2i/@2=@2e>ٱ2V% :AHRS rotation from veh to nav: [[-0.975898,-0.171546,-0.134888],[0.175351,-0.984363,-0.016765],[-0.129903,-0.040013,0.990719]]2H:6ſ@D q?@*@`|`?i2i/@I2d^;2CYN;uByRI TTEDAT read: 04:03:05.9472 LVL= 13584, 13905, 23442, 24003, AGC= 51, IDX= 503,-0.08,-2.079,-2.741, 2.333,-2.477, PHS= 0.501,-0.218,-1.517, RAW= 50.6, 13.8, CAL= 46.9, 16.2, ROT= 103.1, -16.2 MYgot valid direction response: 04:03:05.9472 LVL= 13584, 13905, 23442, 24003, AGC= 51, IDX= 503,-0.08,-2.079,-2.741, 2.333,-2.477, PHS= 0.501,-0.218,-1.517, RAW= 50.6, 13.8, CAL= 46.9, 16.2, ROT= 103.1, -16.2 MZ#Rx 46: Read direction message, but no range.U^direction in FSK: [-0.217652,0.935303,0.278991]y˿ű??5Q6[ ])3IA?id;_-¿=b?Ϣv>Q? Ð>)S?IÐ/?"\n͛? )CwIS?iÐuchecking for new query: numPingsReceived=46, elapsed TxPingTime=22.683884iMb@Mb@Mb@ 9~jt?MbktY=y 0&1A A,A)HAYp9AbDVDyJ=%4=ٔQ->9 Y=]FyxR;E>Q 5%z4䭝?Q 9%z4K)TBY-=Q E-;y- @Q I-?bCI;it;z4yU@Bɮ]EA]}Eiiޫƾ?AJiARiAjiE@b=m#3/;@ @R˿ű??ZiS?biÐj6ahy?PԖ;;R @ZĻVW?%G(!I?2i:i>"iН?*i u'Bi BiН?i;'iiAiE@ addTargetRange:: Added new target pos. range: 29.000000 m, deltaT: 0.507646 s, deltaX: 0.200001 m, approachRate: 0.393977 m/s, rangeRepo size: 4  Added new target pos. range: 28.874556 m, bearing: 270.851840 deg, lat: 36.779362 deg, lon: -121.859553 deg, deltaT: 0.507646 s, deltaX: 0.199137 m, approachRate: 0.392275 m/s, posRepo size: 4 DNOT Ignoring new targets: 28.87 m.hh*h"h hgff)f-2Bd)d)jd-=@Zd5@@?Zm=Zm=ZmU@Zm @e>) Ri|9)顕iir#II]9@Y @a@e4@a1DDAT read: Rx Time:04:03:06.4471  TRx dataTimestamp_ set to:1761537787.609168 PDAT read: Bearing 72.4, 71.1 (Local) % ~Local bearing/azimuth received: Bearing 72.4, 71.1 (Local) m DAT read: Range 11 to 50 : 28.8 m (trip time 19.2 ms) speed 0.0 - DAT read: 04:03:06.4471 LVL= 13424, 13729, 27106, 26579, AGC= 50, IDX= 502, 0.02,-2.244,-2.889, 2.143,-2.664, PHS= 0.521,-0.181,-1.521, RAW= 49.8, 13.1, CAL= 46.4, 15.1, ROT= 103.6, -15.1 = Ygot valid direction response: 04:03:06.4471 LVL= 13424, 13729, 27106, 26579, AGC= 50, IDX= 502, 0.02,-2.244,-2.889, 2.143,-2.664, PHS= 0.521,-0.181,-1.521, RAW= 49.8, 13.1, CAL= 46.4, 15.1, ROT= 103.6, -15.1 = T#Rx 47: Read range and direction messages.^AE K'IQ Ia Om > ^direction in FSK: [-0.227023,0.938402,0.260505] Fpublishing direction and range infoy1Ϳoc?QfJ0?YfAp45i g)2IB`?iX9!¿/^? j>4QO? V>)q?IV2?{kT,ρt? ✿)BiIq?iV checking for new query: numPingsReceived=47, elapsed TxPingTime=22.997416a ),?A6/@66=@6>ٱ6g% BAHRS rotation from veh to nav: [[-0.976263,-0.169803,-0.134453],[0.173622,-0.984663,-0.017125],[-0.129483,-0.040062,0.990772]]6H=ſ5`A9?\ @g?i6/@I6hF^;6CYNPuByNIbDVVDV:yvy=%vq=ٔzQ-z?9xY1==]Fy9=;E=?AQ 5Mz4E9?Q 9Mz4EJ)ETBYQyU @Q IU?EbCDYzDYEe EeEaEa"Eeg5;*Ee:VEaZEaam@am@am@am@IE:iE;Ez4yyɮ}DAi)i-澻?AJi-gARi-gAji-@b-9 q2m:@<[@R-1Ϳoc?QfJ0?Zi-q?bi-Vj-g?S +;!@Z-S%x?ca.P ?2i- :i-'H?"i-4.?*i-%Bi-Bi-URڝ?i- u'i)i-Ai-l@5 addTargetRange:: Added new target pos. range: 28.799999 m, deltaT: 0.504928 s, deltaX: -0.200001 m, approachRate: -0.396098 m/s, rangeRepo size: 4 E Added new target pos. range: 28.675419 m, bearing: 271.613598 deg, lat: 36.779363 deg, lon: -121.859553 deg, deltaT: 0.504928 s, deltaX: -0.199137 m, approachRate: -0.394386 m/s, posRepo size: 4 MDNOT Ignoring new targets: 28.68 m.1hIhQ*hQ"hQ hQgYfYfYfYdadajde<@Zdec#?ZZZZz @>) ;Qi9)顽 ii/WII5checking for new query: numPingsReceived=47, elapsed TxPingTime=23.1785779@ @@/@YB=<A9BE>BABEKIBEctBBE =BABABEU;BE_:Eԉ^A$IIO>Թ  DDAT read: Rx Time:04:03:06.9472 - TRx dataTimestamp_ set to:1761537788.116815E PDAT read: Bearing 73.1, 71.2 (Local) E ~Local bearing/azimuth received: Bearing 73.1, 71.2 (Local) O,?AZDAT read: Range 11 to 50 : 29.0 m (trip time 19.3 ms) speed 0.0 jDAT read: 04:03:06.9472 LVL= 13664, 14161, 26226, 24867, AGC= 49, IDX= 503, 0.15,-0.582,-1.226,-2.484,-1.006, PHS= 0.526,-0.175,-1.521, RAW= 49.7, 12.9, CAL= 46.3, 14.9, ROT= 103.7, -14.9 Ygot valid direction response: 04:03:06.9472 LVL= 13664, 14161, 26226, 24867, AGC= 49, IDX= 503, 0.15,-0.582,-1.226,-2.484,-1.006, PHS= 0.526,-0.175,-1.521, RAW= 49.7, 12.9, CAL= 46.3, 14.9, ROT= 103.7, -14.9 T#Rx 48: Read range and direction messages.^direction in FSK: [-0.228875,0.938882,0.257133]Fpublishing direction and range infoyQUKͿ$΢Q ?Fht?YUAQU`5UQ7Urf U#a)U1IU?iU333QU^?Uf>UN?YcuByI U%>)U?IU%QQU^".?-y]8? U@)UWgIU?iU%QQEchecking for new query: numPingsReceived=48, elapsed TxPingTime=23.518555ԑiMb@Mb@Mb@ 9Dl?~jtX9vYO=y@A+1A t+A)fFAY8AbDVD1y"=%E"=ٔMQ-M>9QYQ=U]FyQUEU>YEm EmEm.Ei"EmB;*Em:VEmـ4ZEiBEmw ,!?ARA0@R>@Rv>ٱR$ bAHRS rotation from veh to nav: [[-0.976995,-0.166295,-0.133520],[0.170084,-0.985276,-0.017417],[-0.128657,-0.039726,0.990893]]RH`C`%Iſ*S?` Ցw Ve?iRA0@IR^M^;PYuByIIM=DDAT read: Rx Time:04:03:07.4472 TRx dataTimestamp_ set to:1761537788.617002PDAT read: Bearing 73.6, 70.7 (Local) ~Local bearing/azimuth received: Bearing 73.6, 70.7 (Local) DAT read: Range 11 to 50 : 29.0 m (trip time 19.3 ms) speed 0.0 DAT read: 04:03:07.4472 LVL= 13680, 13377, 24882, 24819, AGC= 50, IDX= 502, 0.34,-1.584,-2.221, 2.806,-1.994, PHS= 0.512,-0.182,-1.527, RAW= 49.6, 13.3, CAL= 46.1, 15.3, ROT= 103.9, -15.3 %Ygot valid direction response: 04:03:07.4472 LVL= 13680, 13377, 24882, 24819, AGC= 50, IDX= 502, 0.34,-1.584,-2.221, 2.806,-1.994, PHS= 0.512,-0.182,-1.527, RAW= 49.6, 13.3, CAL= 46.1, 15.3, ROT= 103.9, -15.3 %T#Rx 49: Read range and direction messages.)5^direction in FSK: [-0.231714,0.936312,0.263873]5Fpublishing direction and range infoy'>W̨ͿD?&K?Yp5A42a `)2Io?i5^:tÿk]?,m>M? ܸ>)f?IܸQ4?)Y,2]? _)mIf?iܸUchecking for new query: numPingsReceived=49, elapsed TxPingTime=23.958220)M<bDeVDey=%P=ٔ Q->9Y=]Fy<E>Q 5z4j?Q 9z4H)TBYy6@Q IE?/bCIz$W̨ͿD?&K?Zif?biܸj;`X`?- |; X@Z_U=E$&?j!2-B?2iC:i?"i?*i/p&BiqBi4.?iJ'iitAi@ addTargetRange:: Added new target pos. range: 29.000000 m, deltaT: 0.500187 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 28.874519 m, bearing: 272.100363 deg, lat: 36.779365 deg, lon: -121.859553 deg, deltaT: 0.500187 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 28.87 m.hh*h"h hg!f!f!f!d)d)jd)Zd-=μ?YZZZZ6@Mv>)IE} E}E}*Ey"E}:;*E}:VE}(N4ZEya@a@a@a@ M4NiQ9)顭'ii0IIM 9@I  @I @M /@I ԉ M checking for new query: numPingsReceived=49, elapsed TxPingTime=24.185978B9 B9 B= pIB= tBB9 B9 B9 B= I;B= R:EBB0CBB˯ =B˯ =CD5Ա ^Am I I O >[,>?AB~40@B*>@Bh>ٱBQ" ZAHRS rotation from veh to nav: [[-0.977402,-0.164290,-0.133022],[0.168052,-0.985623,-0.017483],[-0.128237,-0.039442,0.990959]]BHF@wſ@@?9摿j 1?iB~40@IB9^;BCYbuBybIbDvVDvy~=%~a=ٔ~Q-~>9Y=]Fy;E >Q 5z4ᦝ?Q 9z4H)TBYy[@Q I?8bCI:iN:dz4y!ɮ-cCA)UDNOT Ignoring new targets: 28.87 m.hQhY*hY"hY hYgafafifqdqdyjdyZd}_?ZZZZ[@ h>) ZLiM9)Q]~*Yiia IIMDDAT read: Rx Time:04:03:07.9472 UTRx dataTimestamp_ set to:1761537789.120864]PDAT read: Bearing 73.6, 71.8 (Local) ]~Local bearing/azimuth received: Bearing 73.6, 71.8 (Local) mDAT read: Range 11 to 50 : 29.0 m (trip time 19.3 ms) speed 0.0 DAT read: 04:03:07.9472 LVL= 13264, 14193, 25410, 25187, AGC= 49, IDX= 503,-0.29, 2.797, 2.147, 0.885, 2.354, PHS= 0.545,-0.163,-1.513, RAW= 49.8, 12.4, CAL= 46.6, 14.2, ROT= 103.4, -14.2 Ygot valid direction response: 04:03:07.9472 LVL= 13264, 14193, 25410, 25187, AGC= 49, IDX= 503,-0.29, 2.797, 2.147, 0.885, 2.354, PHS= 0.545,-0.163,-1.513, RAW= 49.8, 12.4, CAL= 46.6, 14.2, ROT= 103.4, -14.2 T#Rx 50: Read range and direction messages.^direction in FSK: [-0.224667,0.943053,0.245307]Fpublishing direction and range infoyIM̿"$}-?/;f?YIIM3Mq7MBc Mcb)M1IM ?iMy&MM/^?Mk]>M5P? M}>)Mq?IM}IIM9߿(?7fz_*? Mٜ)M^IMq?iM}IIchecking for new query: numPingsReceived=50, elapsed TxPingTime=24.4667199U9@Q @Q@Q@Q^A-tI9IIOUu>aE  E E -E "E E;*E d:VE t4ZE BE @2\>ٱ2җ! >AHRS rotation from veh to nav: [[-0.977793,-0.162270,-0.132628],[0.166000,-0.985971,-0.017489],[-0.127930,-0.039117,0.991012]]2HJCĿy??`葿_(]?i2V0@I2W^;0YNuByR$IiUMb@Mb@Mb@QQQQ Q9U/$?:v~jtYU=yUԽUļU?AUZ0A UE,A)QQYU8A m49Y=]FyQ;E>Q 5z4?Q 9z4F)wTBY >Q E;y@Q I?FbCIH:i:z4yɮBAiiח@ addTargetRange:: Added new target pos. range: 29.000000 m, deltaT: 0.503862 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 28.874538 m, bearing: 272.011275 deg, lat: 36.779365 deg, lon: -121.859553 deg, deltaT: 0.503862 s, deltaX: 0.000019 m, approachRate: 0.000038 m/s, posRepo size: 4 DNOT Ignoring new targets: 28.87 m.hh*h"h hgff!f%bBd!d!jd)Zd-"L?ZM >ZM >ZM@ZM~@]\>)Y eOie+9)ae-aiaiiimIiqIy>i,> 9@  @@0@@@hAԱ}DDAT read: Rx Time:04:03:08.4471 }TRx dataTimestamp_ set to:1761537789.627676PDAT read: Bearing 72.1, 70.7 (Local) ~Local bearing/azimuth received: Bearing 72.1, 70.7 (Local) DAT read: Range 11 to 50 : 28.8 m (trip time 19.2 ms) speed -0.1 DAT read: 04:03:08.4471 LVL= 12912, 13089, 22466, 22291, AGC= 51, IDX= 502, 0.01, 2.840, 2.179, 0.939, 2.423, PHS= 0.519,-0.199,-1.528, RAW= 50.2, 13.3, CAL= 46.7, 15.5, ROT= 103.3, -15.5 ^AIIO>%Ygot valid direction response: 04:03:08.4471 LVL= 12912, 13089, 22466, 22291, AGC= 51, IDX= 502, 0.01, 2.840, 2.179, 0.939, 2.423, PHS= 0.519,-0.199,-1.528, RAW= 50.2, 13.3, CAL= 46.7, 15.5, ROT= 103.3, -15.5 %T#Rx 51: Read range and direction messages.-^direction in FSK: [-0.221683,0.937785,0.267238]UFpublishing direction and range infoyy}+N`̿9N8U?֚n?Y}fAy}p2}!3}W }W)}3I}/?i}K}ÿ}K`?},m>}YP? }c>)}A?I}cyy}vET'?f"7"Dc? }⛿)}nI}A?i}cyymchecking for new query: numPingsReceived=51, elapsed TxPingTime=24.980417 E%  E% E% ,E! "E% G;*E% :VE% g4ZE! a- @a- @a- @a- @,er?A2y0@2!o>@2E>ٱ2 :AHRS rotation from veh to nav: [[-0.978191,-0.160241,-0.132157],[0.163948,-0.986312,-0.017589],[-0.127529,-0.038872,0.991073]]2HVMɂĿ ??ޏ`R磿@޶?i2y0@I2A^;2CYNuByN1I PPbDZVDZܲy~V=%S=ٔzQ->9 Y = ]Fy  ;E>Q 5={4?Q 9E{4E)kTBYAyE@Q IE?SbCI:i_: {4yIɮMBAQii+h?AJigARigAjiԗ@b6jm} !/:@lw@R+N`̿9N8U?֚n?ZiA?bicjn ?9C;"p@Z6E3?39k-)w>Gm?2i:ixe?"iV/?*ip8BiBii/p&iieAiޗ@% addTargetRange:: Added new target pos. range: 28.799999 m, deltaT: 0.506812 s, deltaX: -0.200001 m, approachRate: -0.394625 m/s, rangeRepo size: 4 ] Added new target pos. range: 28.675404 m, bearing: 271.853421 deg, lat: 36.779365 deg, lon: -121.859553 deg, deltaT: 0.506812 s, deltaX: -0.199135 m, approachRate: -0.392917 m/s, posRepo size: 4 eDNOT Ignoring new targets: 28.68 m.haha*ha"ha hagafififichecking for new query: numPingsReceived=51, elapsed TxPingTime=25.193808ddjd<@Zd5x?ZZZZA@E>) Ni9)!%31!i!i)IMIIIQB}>B}/CB}IB}tBByByByB}(;B}0:E@ @@o0@ 1 ^AM I I O >e DDAT read: Rx Time:04:03:08.9473 u TRx dataTimestamp_ set to:1761537790.128257 PDAT read: Bearing 73.7, 71.8 (Local)  ~Local bearing/azimuth received: Bearing 73.7, 71.8 (Local)  DAT read: Range 11 to 50 : 29.1 m (trip time 19.4 ms) speed -0.1  Z#Rx 52: Read range message, but no direction.yi Ym Ai  checking for new query: numPingsReceived=52, elapsed TxPingTime=25.467525,O9Y=]FyE>Q 5{4]?Q 9{4D)`TBY>Q E;yC@Q I?dbCI ;i; ;{4yɮ,BA = addTargetRange:: Added new target pos. range: 29.100000 m, deltaT: 0.500581 s, deltaX: 0.300001 m, approachRate: 0.599306 m/s, rangeRepo size: 4 =DNOT Ignoring new targets: 28.68 m.h9h9*hA"hA hAgAfAfIfMfBdIdIjdM=@ZdU9?Zu>Zu>Zu @ZuC@) pMi9)額^4iiIIE EE+E"E,K;*E:VE [4ZEBEM5P? r>)q?Irڻ{=?_ bI[z?  )D_Iq?irchecking for new query: numPingsReceived=53, elapsed TxPingTime=25.707262Թ=_9A9@ @@/@ ^A I1 IA ] DDAT read: Rx Time:04:03:09.4472 ] TRx dataTimestamp_ set to:1761537790.628654m PDAT read: Bearing 73.8, 71.6 (Local) m ~Local bearing/azimuth received: Bearing 73.8, 71.6 (Local) } DAT read: Range 11 to 50 : 29.0 m (trip time 19.3 ms) speed -0.1 OM > DAT read: 04:03:09.4472 LVL= 13264, 12673, 25314, 22771, AGC= 50, IDX= 503, 0.06, 2.201, 1.542, 0.280, 1.761, PHS= 0.542,-0.174,-1.525, RAW= 49.9, 12.7, CAL= 46.6, 14.6, ROT= 103.4, -14.6  Ygot valid direction response: 04:03:09.4472 LVL= 13264, 12673, 25314, 22771, AGC= 50, IDX= 503, 0.06, 2.201, 1.542, 0.280, 1.761, PHS= 0.542,-0.174,-1.525, RAW= 49.9, 12.7, CAL= 46.6, 14.6, ROT= 103.4, -14.6  T#Rx 54: Read range and direction messages. ^direction in FSK: [-0.224265,0.941364,0.252069] Fpublishing direction and range infoyY ] ɟ̿u3$?!?Y] AY ] 3] 1] b ] X)Y I] ?i] -2] 33ÿY ] b>Y ] w>)Y I] wY Y ] /+K?jAX+? ] )] bbIY i] wY Y  checking for new query: numPingsReceived=54, elapsed TxPingTime=25.965986,A?Af,0@f˻>@f:>ٱf nAHRS rotation from veh to nav: [[-0.979035,-0.155675,-0.131360],[0.159383,-0.987050,-0.018139],[-0.126835,-0.038696,0.991169]]fHAT)ÿif?  #<ϣ?if,0@If F^;fCYvvByvYI~@A~@AbDVDyu=%u9=ٔ}ϺQ-}>9Y=]Fy-<E>Q 5{4?Q 9{4B)TTBYy@Q I?ubCI;i;J+{4yɮAAIi i ;?AJi ARi Aji @b w.Ck.;@@R ɟ̿u3$?!?Zi q?bi wj δrno?R;wn5@Z oLn?o&[HO?2i :i {?"i I?*i 0"Bi Bi ,?i i Bi bAi @ addTargetRange:: Added new target pos. range: 29.000000 m, deltaT: 0.500397 s, deltaX: -0.100000 m, approachRate: -0.199842 m/s, rangeRepo size: 4  Added new target pos. range: 28.874411 m, bearing: 272.356953 deg, lat: 36.779366 deg, lon: -121.859553 deg, deltaT: 1.000978 s, deltaX: 0.199007 m, approachRate: 0.198813 m/s, posRepo size: 4 DNOT Ignoring new targets: 28.87 m.hh*h"h hgff!f!d)d)jd-=@Zd-#?ZiZiZiZmɑ@}:>) Kir9)顥7iiSؼIIbE^n4jEk4rEÝ/Ee EeEaEa"EeUS;*Ee:VEaZEaau@au@au@au@y9@ @@4@5checking for new query: numPingsReceived=54, elapsed TxPingTime=26.201918ԡB>BBIB.uBB =B>DBB';B.:E^A I_I I O% > Й,#¿?AN0@N>>@N>ٱN, nAHRS rotation from veh to nav: [[-0.979439,-0.153379,-0.131046],[0.157091,-0.987413,-0.018409],[-0.126573,-0.038617,0.991205]]NHWÿ`?@ْ3`ţ ?iN0@IN9^;NCY,vBydIbDmVDmky!,=%L=ٔ!+Q->9aYi=m]FyԲ;E> DDAT read: Rx Time:04:03:09.9474 TRx dataTimestamp_ set to:1761537791.1389985PDAT read: Bearing 73.9, 72.1 (Local) =~Local bearing/azimuth received: Bearing 73.9, 72.1 (Local) UDAT read: Range 11 to 50 : 29.3 m (trip time 19.5 ms) speed -0.2 iQ 5u{4m?Q 9}{4m@)mITBYyy}@Q I}?mbCIm:im:m ;{4yɮRAADAT read: 04:03:09.9474 LVL= 12576, 13377, 25202, 23667, AGC= 50, IDX= 505,-0.17, 1.343, 0.680,-0.580, 0.891, PHS= 0.553,-0.166,-1.515, RAW= 50.0, 12.4, CAL= 46.8, 14.1, ROT= 103.2, -14.1 Ygot valid direction response: 04:03:09.9474 LVL= 12576, 13377, 25202, 23667, AGC= 50, IDX= 505,-0.17, 1.343, 0.680,-0.580, 0.891, PHS= 0.553,-0.166,-1.515, RAW= 50.0, 12.4, CAL= 46.8, 14.1, ROT= 103.2, -14.1 T#Rx 55: Read range and direction messages.^direction in FSK: [-0.221471,0.944247,0.243615]Fpublishing direction and range infoy  k):*Y̿EZE7? .?Y fA   1 A4 rb s\)  addTargetRange:: Added new target pos. range: 29.299999 m, deltaT: 0.510344 s, deltaX: 0.299999 m, approachRate: 0.587837 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 28.87 m.hh*h"h hg!f!I h ?i )  f_? k]> Q? d{>) ?I d{   oh?-^q )k? S) ]I ?i d{  ]checking for new query: numPingsReceived=55, elapsed TxPingTime=26.503239fYfYdadjdL=@ZdŨ?ZZZZʸ@>)  Ji9)]7;aiaiaimVd˼IiIi@ @@4@E EEE"E,K;*E:VEZEBEa2EaJE 3,u[ܿ?A21@28 ?@2#>ٱ2Y >AHRS rotation from veh to nav: [[-0.979857,-0.150985,-0.130706],[0.154706,-0.987783,-0.018739],[-0.126280,-0.038583,0.991244]]2HZ`|Sÿ``j?`0) E?i21@I2Q^;2CYFRvByF{IiEMb@Mb@Mb@AAAA A9EbX9ȶ?S㥛Ŀ9qYq=}]Fyy};E}>Q 5{4Ι?Q 9{4V?)ATBYF=>Q E;y?Q I?bCI:if:F{4yɮ@AiAiEXȿ?AJiEbARiEbAjiE2@bEkR>/;@}F nm@REk):*Y̿EZE7? .?ZiE?biEd{jEC{|?2H5W<1@ZE Iϥ?￑x?2iE:iE?"iE?*iE$(BiEBiE?iAiAiEbAiE~&@DNOT Ignoring new targets: 28.87 m.hh*h"h hgfffBddjdZd`v?Z%F=>Z%F=>Z%@Z%?5#>)1 =Ji=09)9=>9i9iAAEcIAIIIUgA)UfAQ 9@ @@/@@5hA@1DDAT read: Rx Time:04:03:10.4474 TRx dataTimestamp_ set to:1761537791.636703PDAT read: Bearing 73.2, 71.8 (Local) ~Local bearing/azimuth received: Bearing 73.2, 71.8 (Local)  DAT read: Range 11 to 50 : 29.3 m (trip time 19.5 ms) speed -0.2 yDAT read: 04:03:10.4474 LVL= 13952, 15217, 30882, 28275, AGC= 50, IDX= 505,-0.39,-0.179,-0.847,-2.090,-0.622, PHS= 0.544,-0.181,-1.512, RAW= 50.3, 12.7, CAL= 47.0, 14.6, ROT= 103.0, -14.6 Ygot valid direction response: 04:03:10.4474 LVL= 13952, 15217, 30882, 28275, AGC= 50, IDX= 505,-0.39,-0.179,-0.847,-2.090,-0.622, PHS= 0.544,-0.181,-1.512, RAW= 50.3, 12.7, CAL= 47.0, 14.6, ROT= 103.0, -14.6 T#Rx 56: Read range and direction messages.^direction in FSK: [-0.217687,0.942907,0.252069]Fpublishing direction and range infoyM-,˿#AJ,?!?Y6q;x sn)IC ?iX97`?b>~Q? w>)?IwRO? u[EKms? ޝ)bI?iwchecking for new query: numPingsReceived=56, elapsed TxPingTime=27.026625^AU8ƼIaIyO>ԩ E  E E ,E "E I@;*E :VE g4ZE a @a @a @a @D,8?A6D1@6=:?@6%>ٱ6 >AHRS rotation from veh to nav: [[-0.980368,-0.148064,-0.130213],[0.151843,-0.988212,-0.019535],[-0.125786,-0.038924,0.991294]]@6H,_¿Ӫo?m``?i6D1@I6=^;6CYRavByRIbDZVDZ:yf=%fU=ٔfiQ-f>9hYh=j]Fyhn;En>pQ 5v{4r՗?Q 9v{4r=)r8TBYtyv?Q Iv?rbCIr_:irV:r[T{4y|ɮ~@A|ii迻?AJiRiji%@b; gv;@e0&j@RM-,˿#AJ,?!?Zi?biwj' ?#qJ) IiW9)顽/AiiWIIB>B0CBIBuuBB =B=DBBB2:Em9@q @q@u/@qԩ^AII9Om>M DDAT read: Rx Time:04:03:10.9476 U TRx dataTimestamp_ set to:1761537792.151849 PDAT read: Bearing 73.1, 71.6 (Local)  ~Local bearing/azimuth received: Bearing 73.1, 71.6 (Local)  DAT read: Range 11 to 50 : 29.6 m (trip time 19.7 ms) speed -0.2  DAT read: 04:03:10.9476 LVL= 13456, 14321, 26386, 24291, AGC= 50, IDX= 506, 0.35, 2.245, 1.570, 0.319, 1.803, PHS= 0.544,-0.188,-1.527, RAW= 50.4, 12.8, CAL= 47.0, 14.8, ROT= 103.0, -14.8 - Ygot valid direction response: 04:03:10.9476 LVL= 13456, 14321, 26386, 24291, AGC= 50, IDX= 506, 0.35, 2.245, 1.570, 0.319, 1.803, PHS= 0.544,-0.188,-1.527, RAW= 50.4, 12.8, CAL= 47.0, 14.8, ROT= 103.0, -14.8 - T#Rx 57: Read range and direction messages.5 ^direction in FSK: [-0.217488,0.942044,0.255446]5 Fpublishing direction and range infoyQ U %>˿Z0J8%?l39Y?YU AQ U 4U 7U g U ^)Q IQ iU @U tÿU z0a?U d>Q U A>)Q IU AQ Q U &}3i?X]>|g? U })U f(eIQ iU AQ Q U checking for new query: numPingsReceived=57, elapsed TxPingTime=27.506676% G9 ,?A6:98Y:B*Al=q1@=g?@=t>ٱ=! MAHRS rotation from veh to nav: [[-0.980839,-0.145308,-0.129771],[0.149138,-0.988609,-0.020253],[-0.125350,-0.039219,0.991337]]=Hcp¿X? J y @?i=q1@I=X^;=CE E E+E"EL;*E:VE [4ZEBE9Y=]Fye;E>Q 5{4픝?Q 9{4:)'TBYf^>Q Et;y~?Q I?bCI;i};e{4yɮ@A ii ?AJiARiAji9@bWv#9;@J<@R%>˿Z0J8%?l39Y?Zibi Ajn5Gi?rh<?Z1@Zq)?sFi+,?2is:iJ?"in?*i*BiBiI?ii9BiZAi7@checking for new query: numPingsReceived=57, elapsed TxPingTime=27.721897 addTargetRange:: Added new target pos. range: 29.600000 m, deltaT: 0.515146 s, deltaX: 0.300001 m, approachRate: 0.582361 m/s, rangeRepo size: 4  Added new target pos. range: 29.472210 m, bearing: 272.557891 deg, lat: 36.779366 deg, lon: -121.859552 deg, deltaT: 0.515146 s, deltaX: 0.299036 m, approachRate: 0.580488 m/s, posRepo size: 4 DNOT Ignoring new targets: 29.47 m.hh*h"h hgfffBddjd=@Zd@4?Z5f^>Z5f^>Z5æ@Z5~?mt>)i mKim9)imDqiqiqy}IyIy I)9}9@y @y@y@y@=@=i ^A bިI I O >E DDAT read: Rx Time:04:03:11.4475 E TRx dataTimestamp_ set to:1761537792.652706U PDAT read: Bearing 73.5, 71.1 (Local) U ~Local bearing/azimuth received: Bearing 73.5, 71.1 (Local)  ,R)?ADAT read: Range 11 to 50 : 29.4 m (trip time 19.6 ms) speed -0.2 nDAT read: 04:03:11.4475 LVL= 15312, 16881, 27042, 25875, AGC= 52, IDX= 506, 0.23, 1.158, 0.488,-0.758, 0.730, PHS= 0.530,-0.196,-1.531, RAW= 50.3, 13.2, CAL= 46.8, 15.2, ROT= 103.2, -15.2 rYgot valid direction response: 04:03:11.4475 LVL= 15312, 16881, 27042, 25875, AGC= 52, IDX= 506, 0.23, 1.158, 0.488,-0.758, 0.730, PHS= 0.530,-0.196,-1.531, RAW= 50.3, 13.2, CAL= 46.8, 15.2, ROT= 103.2, -15.2 vT#Rx 58: Read range and direction messages.z^direction in FSK: [-0.220362,0.939520,0.262189]zFpublishing direction and range infoyqu­@4̿h?;f$?Yu3Aqu;uAui9 ue)u4Iu?iu9Huÿu`?uk>uQ? uԇ>)u?Iuԇqqu)ݣ?$E84!? u{)ukIu?iuԇqqchecking for new query: numPingsReceived=58, elapsed TxPingTime=28.024406D1@?@<>ٱd# %AHRS rotation from veh to nav: [[-0.981285,-0.142675,-0.129316],[0.146553,-0.988981,-0.020938],[-0.124904,-0.039498,0.991382]]Hf,C¿n`A? p9`g?iD1@I9^;CYubvByuIbDVDkyO<%H=ٔQ->9Y=]Fy;E>Q 5{4?Q 9{48)TBYy?Q I?bCIG;i:s{4yɮz@Aiqiu)?AJiu/ARiu/Ajiud@bu)vN;@s]I@Ru­@4̿h?;f$?Ziu?biuԇjub?r?NP@Zu~O? D%t?2iuq:iu?"iuz ?*iu;P!BiuىBiun?iqiqiuAiuB@iE EE,E"EB;*E:VEg4ZEa@a@a@a@ addTargetRange:: Added new target pos. range: 29.400000 m, deltaT: 0.500857 s, deltaX: -0.200001 m, approachRate: -0.399317 m/s, rangeRepo size: 4  Added new target pos. range: 29.273073 m, bearing: 272.858828 deg, lat: 36.779367 deg, lon: -121.859552 deg, deltaT: 0.500857 s, deltaX: -0.199137 m, approachRate: -0.397592 m/s, posRepo size: 4 DNOT Ignoring new targets: 29.27 m.hh*h"h hgfffddjd`ff=@Zd ?ZZZZ)I M0KiM9)IMHQiQiQY]t IYIY9@ @@@checking for new query: numPingsReceived=58, elapsed TxPingTime=28.229059ԹB>BB IBuBB =BBB1;B8:E ^A] mIq I O >),]C?A=1@=?@==ٱ=R# }AHRS rotation from veh to nav: [[-0.981563,-0.141062,-0.128982],[0.144954,-0.989210,-0.021248],[-0.124593,-0.039553,0.991419]]=HhT¿`~@֍?@•Y忿`C@?i=1@I=!A^;=CYsvByI AA BAbD%VD%2yUP9=%]a=ٔe(aQ-m>DDAT read: Rx Time:04:03:11.9476 TRx dataTimestamp_ set to:1761537793.159934=PDAT read: Bearing 72.9, 71.1 (Local) E~Local bearing/azimuth received: Bearing 72.9, 71.1 (Local) uDAT read: Range 11 to 50 : 29.6 m (trip time 19.7 ms) speed -0.3 DAT read: 04:03:11.9476 LVL= 14496, 15409, 27506, 26099, AGC= 52, IDX= 507, 0.16, 1.110, 0.431,-0.801, 0.681, PHS= 0.531,-0.205,-1.526, RAW= 50.7, 13.2, CAL= 47.2, 15.4, ROT= 102.8, -15.4 Ygot valid direction response: 04:03:11.9476 LVL= 14496, 15409, 27506, 26099, AGC= 52, IDX= 507, 0.16, 1.110, 0.431,-0.801, 0.681, PHS= 0.531,-0.205,-1.526, RAW= 50.7, 13.2, CAL= 47.2, 15.4, ROT= 102.8, -15.4 T#Rx 59: Read range and direction messages.^direction in FSK: [-0.213594,0.940137,0.265556]Fpublishing direction and range infoyR W˿- )1?<?YA81<rk e)I?iQSÿb?BR? >)L?IҦSZ?`% JH? Wߚ)]lIL?ichecking for new query: numPingsReceived=59, elapsed TxPingTime=28.5076189Y= ]Fy 3;E>Q 5{4 ?Q 9%{46) TBY!y%?Q I%?bCI:i:c{4yɮ7@Aii\,r]?A;ɰ;21@2?@2#=ٱ2C" :AHRS rotation from veh to nav: [[-0.981779,-0.139893,-0.128609],[0.143772,-0.989381,-0.021343],[-0.124258,-0.039444,0.991466]]2H@j@Dv!g?@ڕ\Ͽ`2@?i21@I2Zr^;0Y^wvBybIiEMb@Mb@Mb@AAAA A9EJ +?x&1ȿ~jtYE=yAEE5>AA A)ECAAYE 7AbD]VD]ym<<%mZ=ٔmmQ-u>9qYq=u]Fyqk;E? Q 5={4 2?Q 9={4 4) SBY=s]>Q EEu;yE?Q IE? cCI ;i ; ({4yu=Bɮu@AyDNOT Ignoring new targets: 29.47 m.hh*h"h hgff f5Bd9dAjdAZdM#F?Zs]>Zs]>Z@Z?#=) Hi 9)  [N i i6dIIA DDAT read: Rx Time:04:03:12.4476 TRx dataTimestamp_ set to:1761537793.661601%PDAT read: Bearing 74.0, 71.6 (Local) %~Local bearing/azimuth received: Bearing 74.0, 71.6 (Local) 9@ @@o0@@gA@gA-DAT read: Range 11 to 50 : 29.6 m (trip time 19.7 ms) speed -0.3 DAT read: 04:03:12.4476 LVL= 12816, 14705, 26850, 24563, AGC= 51, IDX= 507, 0.12, 0.216,-0.457,-1.697,-0.221, PHS= 0.539,-0.190,-1.519, RAW= 50.5, 12.9, CAL= 47.1, 14.9, ROT= 102.9, -14.9  Ygot valid direction response: 04:03:12.4476 LVL= 12816, 14705, 26850, 24563, AGC= 51, IDX= 507, 0.12, 0.216,-0.457,-1.697,-0.221, PHS= 0.539,-0.190,-1.519, RAW= 50.5, 12.9, CAL= 47.1, 14.9, ROT= 102.9, -14.9 q}T#Rx 60: Read range and direction messages.^direction in FSK: [-0.215744,0.941986,0.257133]Fpublishing direction and range infoy||˿>$?Fht?Y2q9h _)3I ?i\Bn¿ܢa?f>qR? %>)}?I%C?miy: ⁻? b)CffI}?i%checking for new query: numPingsReceived=60, elapsed TxPingTime=29.071247^A9 EM  EM EI EI "EM E;*EM :VEI ZEI aU @aU @aU @aU @Ia Iq ԙ O > ;,R~w?AN%1@N?@N7=ٱN" ZAHRS rotation from veh to nav: [[-0.982025,-0.138466,-0.128276],[0.142323,-0.989590,-0.021365],[-0.123982,-0.039238,0.991508]]NHl? [k7?P`o?iN%1@IN ^;NCYbvBybIbDjVDjfyre<%rS=ٔv$9tYt=v]FytzH;Ez>|Q 5{4~+?Q 9{4~2)~SBYy ?Q I ?~cCI~:i~|:~{4yɮ?AiAiEWj?AJiARiAjiEge@bEgwn&;@JP@RE||˿>$?Fht?ZiE}?biE%jEr?,=< @ZEǹEΨ?w!0S?2iEQ:iEĶ?"iEB ~?*iE!BiEBiAiE#iEBiENAiE^V@]=]%=echecking for new query: numPingsReceived=60, elapsed TxPingTime=29.234158u addTargetRange:: Added new target pos. range: 29.600000 m, deltaT: 0.501667 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 29.471951 m, bearing: 272.864165 deg, lat: 36.779367 deg, lon: -121.859551 deg, deltaT: 0.501667 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 29.47 m.hh*h"h hgfffddjdZd~?ZZZZ?7=) YHiW9)QiiQIIqAyAyBB/CBIBuBBBBB0;B7:EBE/CBABABE° =BE° =CED5-9@) @)@-2@)ԡ^AumIIO>5 DDAT read: Rx Time:04:03:12.9478 E TRx dataTimestamp_ set to:1761537794.169260e PDAT read: Bearing 72.5, 71.8 (Local) } ~Local bearing/azimuth received: Bearing 72.5, 71.8 (Local)  DAT read: Range 11 to 50 : 29.9 m (trip time 19.9 ms) speed -0.2 - DAT read: 04:03:12.9478 LVL= 14208, 14737, 25634, 23795, AGC= 51, IDX= 509, 0.10, 0.998, 0.307,-0.917, 0.553, PHS= 0.546,-0.202,-1.514, RAW= 51.0, 12.9, CAL= 47.6, 14.9, ROT= 102.4, -14.9 5 Ygot valid direction response: 04:03:12.9478 LVL= 14208, 14737, 25634, 23795, AGC= 51, IDX= 509, 0.10, 0.998, 0.307,-0.917, 0.553, PHS= 0.546,-0.202,-1.514, RAW= 51.0, 12.9, CAL= 47.6, 14.9, ROT= 102.4, -14.9 5 T#Rx 61: Read range and direction messages.} ^direction in FSK: [-0.207515,0.943833,0.257133] Fpublishing direction and range infoy9 = H7cڏʿl3?Fht?Y= 3A9 = 7= 9= "d = \)9 I= ?i= N= = c?9 = ȭT? 9 )= ?I9 9 9 = Q_?ļk N? = )= ЋfI= ?i9 9 9  checking for new query: numPingsReceived=61, elapsed TxPingTime=29.570103 S#$,![?A2'1@2?@2V=ٱ2W! :AHRS rotation from veh to nav: [[-0.982291,-0.136929,-0.127889],[0.140770,-0.989810,-0.021455],[-0.123648,-0.039078,0.991556]]2Hn@ ^? B``Ժ?i2'1@I2=_;2CY~kvBy~IiMb@Mb@Mb@ 9ʡE?Sſ:vY-=y/T9!Y!=%]Fy)-Aj;E->1Q 5={45?Q 9={450)5SBYEK>Q EE;yE?Q IE?5-cCI5:i5:5{4yIɮMB@AIiiim(Պ?AJim*ARim*Ajima,@bm7=336<@ Q@RmH7cڏʿl3?Fht?Zim?biijm?;ZK>Zaۥ@ZX?V=) 3Ci%9)pTii=I I mchecking for new query: numPingsReceived=61, elapsed TxPingTime=29.7378659@ @@/@1 ^A ONI II O >% DDAT read: Rx Time:04:03:13.4478 % TRx dataTimestamp_ set to:1761537794.6686785 PDAT read: Bearing 72.4, 72.2 (Local) 5 ~Local bearing/azimuth received: Bearing 72.4, 72.2 (Local) E DAT read: Range 11 to 50 : 29.9 m (trip time 19.9 ms) speed -0.2 L*,3?ADAT read: 04:03:13.4478 LVL= 12768, 14737, 25266, 24835, AGC= 51, IDX= 509, 0.05,-0.102,-0.798,-2.022,-0.557, PHS= 0.557,-0.195,-1.509, RAW= 51.1, 12.6, CAL= 47.7, 14.6, ROT= 102.3, -14.6 "Ygot valid direction response: 04:03:13.4478 LVL= 12768, 14737, 25266, 24835, AGC= 51, IDX= 509, 0.05,-0.102,-0.798,-2.022,-0.557, PHS= 0.557,-0.195,-1.509, RAW= 51.1, 12.6, CAL= 47.7, 14.6, ROT= 102.3, -14.6 "T#Rx 62: Read range and direction messages.&^direction in FSK: [-0.206152,0.945496,0.252069]*Fpublishing direction and range infoyQUS9~,cʿOA?!?YQQU1QUb Ua)QIU?iUGU&U&Qd?Uz0a>U+ U? Uw>)UX?IUwQQU(u?v6_#-/? U-)UOaIUX?iUwQQ:checking for new query: numPingsReceived=62, elapsed TxPingTime=30.010813@@j2@j@@jW=ٱjD" zAHRS rotation from veh to nav: [[-0.982578,-0.135101,-0.127622],[0.138979,-0.990052,-0.021948],[-0.123387,-0.039303,0.991580]]jH`Hq`J`U@?y`L| ?ij2@Ijr^;jCY ^vBy IbDVD0Qymռ%m*=ٔuwQ-u>9qYq=}]Fyy}y;E}>Q 5{4ׇ?Q 9{4c.)SBYy?Q I?DcCI:i9:Y{4y2Bɮ@AsEE  E E E "E Q;*E &:VE ZE a@a@a@a@iQiU˪?AJiQRiQjiU3@bUChLH%<@$$q]@RUS9~,cʿOA?!?ZiUX?biUwjU(Q?&ByByByB} =B}>DByB}=;B}B:Eԩ ^A :II Ii O > z1,1?A?>2@3@@=ٱ$ AHRS rotation from veh to nav: [[-0.982907,-0.132967,-0.127330],[0.136937,-0.990315,-0.022905],[-0.123051,-0.039950,0.991596]]H s`VL#?ਰ}tBOt@'?i?>2@II^;Y-jvBy-IbD=VD=!yMQ=%=ٔȃQ-?9Y=]Fy{;E-?mDDAT read: Rx Time:04:03:13.9480 }TRx dataTimestamp_ set to:1761537795.176680PDAT read: Bearing 71.9, 72.1 (Local) ~Local bearing/azimuth received: Bearing 71.9, 72.1 (Local) DAT read: Range 11 to 50 : 30.2 m (trip time 20.1 ms) speed -0.2 )9Q 5}{4=2?Q 9{4=,)=SBYyG?Q I?=UcCI=*=i=6<=|{4yɮ?ADAT read: 04:03:13.9480 LVL= 14096, 15761, 26898, 27043, AGC= 52, IDX= 511,-0.04,-0.154,-0.847,-2.056,-0.604, PHS= 0.552,-0.198,-1.496, RAW= 51.2, 12.7, CAL= 47.8, 14.7, ROT= 102.2, -14.7 Ygot valid direction response: 04:03:13.9480 LVL= 14096, 15761, 26898, 27043, AGC= 52, IDX= 511,-0.04,-0.154,-0.847,-2.056,-0.604, PHS= 0.552,-0.198,-1.496, RAW= 51.2, 12.7, CAL= 47.8, 14.7, ROT= 102.2, -14.7 T#Rx 63: Read range and direction messages.^direction in FSK: [-0.204408,0.945423,0.253758]Fpublishing direction and range infoyqu}uU? uG\>)u&Q?IuG\qqu?-pKb+I? u)ubIu&Q?iuG\qq5checking for new query: numPingsReceived=63, elapsed TxPingTime=30.555557jiu5@bu-!ɘm<@m@Ru}@Zd%@?ZAZAZAZEG?}=)y }:Ci}9)y}Zii_IIYE EEE"EV;*E :VEZEBE}%e=ٔe Q-e>9iYi=m]Fyiu{R;Eu>yQ 5}{4}Ń?Q 9{4}*)}SBY8>Q E;y?Q I?}jcCI}:i}:} {4DDAT read: Rx Time:04:03:14.4480 TRx dataTimestamp_ set to:1761537795.676803PDAT read: Bearing 71.2, 72.7 (Local) ~Local bearing/azimuth received: Bearing 71.2, 72.7 (Local) DAT read: Range 11 to 50 : 30.2 m (trip time 20.1 ms) speed -0.2 DAT read: 04:03:14.4480 LVL= 12592, 13505, 26034, 25171, AGC= 50, IDX= 511,-0.19,-1.211,-1.918,-3.131,-1.682, PHS= 0.573,-0.191,-1.493, RAW= 51.4, 12.2, CAL= 48.2, 14.1, ROT= 101.8, -14.1 Ygot valid direction response: 04:03:14.4480 LVL= 12592, 13505, 26034, 25171, AGC= 50, IDX= 511,-0.19,-1.211,-1.918,-3.131,-1.682, PHS= 0.573,-0.191,-1.493, RAW= 51.4, 12.2, CAL= 48.2, 14.1, ROT= 101.8, -14.1 T#Rx 64: Read range and direction messages.^direction in FSK: [-0.198335,0.949376,0.243615]Fpublishing direction and range infoyrٸ cɿoBIa? .?Y014e Sb)2yɮO@AI!?iCLe?^ Z>\W? d{>)cl?Id{V*.??- F8{'? z$) ZIcl?id{checking for new query: numPingsReceived=64, elapsed TxPingTime=31.036013 iiP?AJiRiji@b t2<@=9M@Rrٸ cɿoBIa? .?Zicl?bid{j?-`" B=aL~W@Z^&? " ]?2i:i}?"i睊?*i6,BiԈBi l?ij'iBiAi?@m addTargetRange:: Added new target pos. range: 30.200001 m, deltaT: 0.500123 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 u Added new target pos. range: 30.069202 m, bearing: 272.316425 deg, lat: 36.779365 deg, lon: -121.859553 deg, deltaT: 0.500123 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 }DNOT Ignoring new targets: 30.07 m.hyhy*hy"hy hygfff8BddjdZdZ?Z8>Z8>ZW@Z?E-=)A EAiE9)AM8^IiIiQQUIQIQ1m9@i @i@m/@qbE] [4jE]ƞ]4rE]@o/E EE.E"EL;*E:VEـ4ZEa@a@a@a@M checking for new query: numPingsReceived=64, elapsed TxPingTime=31.249762a B A B% >B! B% IB% uBB% =B! B% DB% G;B% J:E^A pI I O >j@,?A Vi2@Vn_@@VB=ٱVw) bAHRS rotation from veh to nav: [[-0.983291,-0.130194,-0.127232],[0.134326,-0.990636,-0.024418],[-0.122862,-0.041101,0.991572]]VHw 1$I1?J`s@! ?iVi2@IVG];VCYj9vByjlIbDrVDrfyzp%zR=ٔ~pQ-~>9Y=]Fyb,;E >Q 55{4߁?Q 9{4 ))eSBYy?Q I?{cCI6uW? }>)13?I};E?$AsP4M? :)(\I13?i} checking for new query: numPingsReceived=65, elapsed TxPingTime=31.579460 E " E 2E ,E "E Z;*E ;VE g4ZE BE ] checking for new query: numPingsReceived=65, elapsed TxPingTime=31.753738F,%?ABl2@Bjb@@B.=ٱB&(H ZAHRS rotation from veh to nav: [[-0.983320,-0.130039,-0.127167],[0.134147,-0.990664,-0.024260],[-0.122825,-0.040914,0.991585]]BH[wF +?טpq?iBl2@IB,J];BCYbEvBybsIiMMb@Mb@Mb@IIII I9M㥛 ?&1x&YM=yMнM7M :AM-A M(A)M?AIYM(4AbDeVDe1yu<%uB=ٔ}Q-}>9yYy=}]Fyy9E>Q 5{4?Q 9{4')FSBY>Q E;y?Q I?cCIe:iU:]{4yɮ@Aii ?AJiYARiYAjia@b4u0ՠ<@#X-@R )ɿ[QL`?/;f?Zi13?bi}j?xDX=vVz@ZqSṚ? O A?2i:iT?"iݠj❊?*i#_+BiBis?i#_+i^BiAihG@ addTargetRange:: Added new target pos. range: 30.299999 m, deltaT: 0.509106 s, deltaX: 0.099998 m, approachRate: 0.196420 m/s, rangeRepo size: 4  Added new target pos. range: 30.168531 m, bearing: 272.276512 deg, lat: 36.779365 deg, lon: -121.859555 deg, deltaT: 0.509106 s, deltaX: 0.099329 m, approachRate: 0.195105 m/s, posRepo size: 4 EDNOT Ignoring new targets: 30.17 m.hAhA*hI"hI hIgIfIfQf]BdYdjdL>@ZdY-?Z>Z>Z@Z|?.=) p=i9)顝IdiiͻII9@ @@@DDAT read: Rx Time:04:03:15.4480 TRx dataTimestamp_ set to:1761537796.685846PDAT read: Bearing 71.5, 72.5 (Local) ~Local bearing/azimuth received: Bearing 71.5, 72.5 (Local) DAT read: Range 11 to 50 : 30.2 m (trip time 20.1 ms) speed -0.1 DAT read: 04:03:15.4480 LVL= 15600, 15505, 25730, 25907, AGC= 51, IDX= 511,-0.01,-0.904,-1.604,-2.817,-1.367, PHS= 0.565,-0.192,-1.494, RAW= 51.3, 12.4, CAL= 48.0, 14.3, ROT= 102.0, -14.3 -Ygot valid direction response: 04:03:15.4480 LVL= 15600, 15505, 25730, 25907, AGC= 51, IDX= 511,-0.01,-0.904,-1.604,-2.817,-1.367, PHS= 0.565,-0.192,-1.494, RAW= 51.3, 12.4, CAL= 48.0, 14.3, ROT= 102.0, -14.3 5T#Rx 66: Read range and direction messages.=^direction in FSK: [-0.201470,0.947840,0.246999]EFpublishing direction and range infoynɿD7eT?⩝?YA<<d 3e)3Iף?iDd;5e?k]>PwV? r>)?Ir}W˷?Gep`w? s):x]I?iruchecking for new query: numPingsReceived=66, elapsed TxPingTime=32.030598 ^A `ԻI I O >L,t5?A2m2@2Gc@@2`@=ٱ2' BAHRS rotation from veh to nav: [[-0.983323,-0.130028,-0.127155],[0.134095,-0.990680,-0.023929],[-0.122858,-0.040581,0.991594]]2HbwF*?ҀsƤ#?i2m2@I28];2CER EREPEP"ERQ;*ER:VEPZEPaV@aV@aV@aV@Y^9)Y)=-]Fy15 9E5>YQ 5e|4]o~?Q 9e|4]&)])SBYiym?Q Im?]cCI]:i](:];|4yqɮu@Aii+?AJiARiAji9@b D`;+ &<@@@RnɿD7eT?⩝?Zi?birjB?]&9=MV!@Z߯??VU[R?2i:iB?"i읊?*ikQ'BiBi읊?iiBi]Ai7@ addTargetRange:: Added new target pos. range: 30.200001 m, deltaT: 0.499937 s, deltaX: -0.099998 m, approachRate: -0.200022 m/s, rangeRepo size: 4  Added new target pos. range: 30.068968 m, bearing: 272.560095 deg, lat: 36.779364 deg, lon: -121.859555 deg, deltaT: 0.499937 s, deltaX: -0.099564 m, approachRate: -0.199152 m/s, posRepo size: 4 DNOT Ignoring new targets: 30.07 m.hh*h"h hgfffddjd@33>@Zd@?checking for new query: numPingsReceived=66, elapsed TxPingTime=32.257889ZAZAZAZE?]`@=)Y ]=i]؎9)Y]7gaiaiaim/̻IIB>B.CBIBuBB =BBBE;BG:E)%9@! @!@% 0@!Y^AM [RӻIQ Ii Ou >ԑ  DDAT read: Rx Time:04:03:15.9482  TRx dataTimestamp_ set to:1761537797.192817 PDAT read: Bearing 65.1, 66.8 (Local)  ~Local bearing/azimuth received: Bearing 65.1, 66.8 (Local) M DAT read: Range 11 to 50 : 30.5 m (trip time 20.3 ms) speed 0.0  DAT read: 04:03:15.9482 LVL= 14112, 15809, 29378, 29395, AGC= 50, IDX= 512, 0.35, 0.307,-0.449,-1.561,-0.039, PHS= 0.447,-0.366,-1.566, RAW= 53.7, 16.7, CAL= 49.0, 20.4, ROT= 101.0, -20.4  Ygot valid direction response: 04:03:15.9482 LVL= 14112, 15809, 29378, 29395, AGC= 50, IDX= 512, 0.35, 0.307,-0.449,-1.561,-0.039, PHS= 0.447,-0.366,-1.566, RAW= 53.7, 16.7, CAL= 49.0, 20.4, ROT= 101.0, -20.4  T#Rx 67: Read range and direction messages. ^direction in FSK: [-0.178842,0.920061,0.348572] Fpublishing direction and range infoy  HHwGJƿ/R$q?<O?Y A 7 M g>M CS,%\O?AFe2@F=[@@Fܿ=ٱFk%dl|5d;91Y5*A EAHRS rotation from veh to nav: [[-0.983228,-0.130570,-0.127338],[0.134573,-0.990629,-0.023323],[-0.123100,-0.040068,0.991585]]FHv L9?; ᗿwǃ?iFe2@IFg>];FCY=r r)2I/>iZdrȿo?;>!Z? K>)ܢ?IKo~?(G 9Y=]FyLvE>Q 5|49}?Q 9|4%)SBYU=Q E"iB3?*iTBi/Bi睊?iiiAi*@ addTargetRange:: Added new target pos. range: 30.500000 m, deltaT: 0.506971 s, deltaX: 0.299999 m, approachRate: 0.591748 m/s, rangeRepo size: 4  Added new target pos. range: 30.367548 m, bearing: 270.687492 deg, lat: 36.779364 deg, lon: -121.859555 deg, deltaT: 0.506971 s, deltaX: 0.298580 m, approachRate: 0.588949 m/s, posRepo size: 4 DNOT Ignoring new targets: 30.37 m.hh*h"h  h g f ffBchecking for new query: numPingsReceived=67, elapsed TxPingTime=32.761864dd1jd=>@Zd= ?Z}U=Z}U=Z}@Z}|?ܿ=) ;iV9)页jiiۻII I)1Ա9@ @@/@@=@= ^A `ԻI I O >$Z,j?A2]\2@2Q@@2jw=ٱ2.$ >AHRS rotation from veh to nav: [[-0.983109,-0.131154,-0.127656],[0.135123,-0.990564,-0.022904],[-0.123447,-0.039766,0.991554]]2H uW K?t<`=\Ϻ?i2]\2@I2^];0YF@vByFpIbDNVDNyV+]=%V=ٔV:Q-Z?9XY\=^]Fy\^Eb?ihIjArDDAT read: Rx Time:04:03:16.4481 vTRx dataTimestamp_ set to:1761537797.693934~PDAT read: Bearing 38.6, 72.6 (Local) ~~Local bearing/azimuth received: Bearing 38.6, 72.6 (Local) }DAT read: Range 11 to 50 : 30.3 m (trip time 20.2 ms) speed 0.0 dQ 5|4f|?Q 9|4f%)fRBYyd?Q I?fcCIfgr? r5z>)r?Ir5zppr_B?{!{~n? r5?)rDIr?ir5zpp}checking for new query: numPingsReceived=68, elapsed TxPingTime=33.067211"irx%W??*irvC'BirBirݠj❊?irkQ'irBir|Air@ addTargetRange:: Added new target pos. range: 30.299999 m, deltaT: 0.501117 s, deltaX: -0.200001 m, approachRate: -0.399110 m/s, rangeRepo size: 4  Added new target pos. range: 30.168415 m, bearing: 262.675208 deg, lat: 36.779363 deg, lon: -121.859553 deg, deltaT: 0.501117 s, deltaX: -0.199133 m, approachRate: -0.397378 m/s, posRepo size: 4 DNOT Ignoring new targets: 30.17 m.hh*h"h hgfffddjdL>@Zd%_?ZZZZd?jw=) :i?9);miiuLII99@ @@4@E EE-E"ECJ;*Ej:VEt4ZEa-@a-@a-@a-@ichecking for new query: numPingsReceived=68, elapsed TxPingTime=33.265865A1 A1 B= >B9 B= IB= uBB= =B9 B9 B= Q;B= S:E^A [RӻI I O >ԑ a a,Y?AN4<ɰLy /2@$@@=ٱ،, AHRS rotation from veh to nav: [[-0.982589,-0.133585,-0.129131],[0.137822,-0.990156,-0.024414],[-0.124598,-0.041786,0.991327]]H]q`PZ)?[忿d`?i /2@Iv!];CY9vBylIAAAAbDVDk1yn%8=ٔ*;Q->9Y=]Fy ̻E>Q 5m|4{?Q 9m|4'$)RBYqyu?Q Iu?cCI6f%n? ;0>)?I;0?YҎO[? U)I?i;0mchecking for new query: numPingsReceived=69, elapsed TxPingTime=33.599377E-  E- 1E- +E) "E- sH;*E- f;VE- [4ZE) BE-  checking for new query: numPingsReceived=69, elapsed TxPingTime=33.76969940g,_&?AY~PvBy~zIiMb@Mb@Mb@ 9Q?~jt&1Y\=yP7Ap+A &A)5>AY1AbDMVDMNyeb\=%eD=ٔeQ-e>9iYi=m]FyiuEu>yQ 5|4}z?Q 9|4}#)}RBY=Q E6.uz@Z5""uvc'Bj?2i57:i5Y"i5cq?*i5Kv9Bi5Bi5B3?i1i1i5Ai594@- addTargetRange:: Added new target pos. range: 30.500000 m, deltaT: 0.503712 s, deltaX: 0.200001 m, approachRate: 0.397054 m/s, rangeRepo size: 4 e Added new target pos. range: 30.367540 m, bearing: 267.685396 deg, lat: 36.779356 deg, lon: -121.859553 deg, deltaT: 0.503712 s, deltaX: 0.199125 m, approachRate: 0.395316 m/s, posRepo size: 4 uDNOT Ignoring new targets: 30.37 m.hqhy*hy"h hgf)f9f=̀BdAdijdu>@Zd} '?Z=Z=Zg@Z:@) z4i$9)&sii!!%I)I)I5fA)19@ @@B4@@@ DDAT read: Rx Time:04:03:17.4481 TRx dataTimestamp_ set to:1761537798.701936%PDAT read: Bearing 49.7, 76.0 (Local) %~Local bearing/azimuth received: Bearing 49.7, 76.0 (Local) =DAT read: Range 11 to 50 : 30.3 m (trip time 20.2 ms) speed 0.0 uDAT read: 04:03:17.4481 LVL= 13520, 16017, 23666, 23923, AGC= 51, IDX= 512,-0.09,-0.336,-1.253,-2.360,-0.981, PHS= 0.747,-0.226,-1.423, RAW= 56.6, 9.6, CAL= 54.2, 11.1, ROT= 95.8, -11.1 }Ygot valid direction response: 04:03:17.4481 LVL= 13520, 16017, 23666, 23923, AGC= 51, IDX= 512,-0.09,-0.336,-1.253,-2.360,-0.981, PHS= 0.747,-0.226,-1.423, RAW= 56.6, 9.6, CAL= 54.2, 11.1, ROT= 95.8, -11.1 T#Rx 70: Read range and direction messages.^direction in FSK: [-0.099166,0.976269,0.192522]Fpublishing direction and range infoy  ыgb|6ǘ=?M?Y fA  4 > r\ s]) 3I d;??i lg $ '|? +> *r? aF>) ?I aF   jk[>?6`? ') a+I ?i aF  checking for new query: numPingsReceived=70, elapsed TxPingTime=34.0491141^A &I I O >Y E=  E= E= ,E9 "E= N;*E= L:VE= g4ZE9 aM @aM @aM @aM @Zm,?A22@2 @@2r>ٱ2- :AHRS rotation from veh to nav: [[-0.982322,-0.135001,-0.129689],[0.139255,-0.989959,-0.024275],[-0.125109,-0.041906,0.991258]]2H-oG`?ۘta?i22@I2%>];2CYNsvByRIbDZVDZkyM =%M^=ٔU!:Q-U>9QYY=]]FyY]JE]>aQ 5m|4ez?Q 9m|4e?#)eRBYqyu@Q Iu?ecCIe:ie-:eJ|4yyɮ}?Ai9i=?AJi=XARi=XAji=ޔ@b=uK0 s=@y;@R=ыgb|6ǘ=?M?Zi=?bi=aFj=h߶=@Z=_eecO:LI]?2i=:i=0"i=& 㜊?*i=c[0Bi=Bi=cq?i9i=Bi=Ai={@ addTargetRange:: Added new target pos. range: 30.299999 m, deltaT: 0.504290 s, deltaX: -0.200001 m, approachRate: -0.396599 m/s, rangeRepo size: 4  Added new target pos. range: 30.168407 m, bearing: 266.551583 deg, lat: 36.779341 deg, lon: -121.859553 deg, deltaT: 0.504290 s, deltaX: -0.199133 m, approachRate: -0.394878 m/s, posRepo size: 4 DNOT Ignoring new targets: 30.17 m.hh*h"h hgfffddjdL>@Zdd?ZZZZ@-r>)) -R2i-9)15u19i9i9AE.IAIA]checking for new query: numPingsReceived=70, elapsed TxPingTime=34.273830B>B1CBBB =B=DBDBk;Bx:EBB/CB”CB³ =B³ =C%6-9@) @)@-/@)a^AMIYIiO}>ԉ5 DDAT read: Rx Time:04:03:17.9482 E TRx dataTimestamp_ set to:1761537799.209807] PDAT read: Bearing 55.6, 73.9 (Local) m ~Local bearing/azimuth received: Bearing 55.6, 73.9 (Local) u DAT read: Range 11 to 50 : 30.5 m (trip time 20.3 ms) speed 0.0 M DAT read: 04:03:17.9482 LVL= 15312, 17073, 26338, 29731, AGC= 53, IDX= 513,-0.10, 1.098, 0.219,-0.911, 0.518, PHS= 0.681,-0.254,-1.473, RAW= 55.7, 11.2, CAL= 52.7, 13.2, ROT= 97.3, -13.2 Bt,?AY`yfI hhnYgot valid direction response: 04:03:17.9482 LVL= 15312, 17073, 26338, 29731, AGC= 53, IDX= 513,-0.10, 1.098, 0.219,-0.911, 0.518, PHS= 0.681,-0.254,-1.473, RAW= 55.7, 11.2, CAL= 52.7, 13.2, ROT= 97.3, -13.2 vT#Rx 71: Read range and direction messages.]^direction in FSK: [-0.123708,0.965687,0.228351]]Fpublishing direction and range infoyimKPJs? :?YmAim;mBmf m#t)m5ImV.?imJ mDmx?m+H>mCwk? mk>)m^?Imkiimj:,?2hLml*? m%ď)m6GIm^?imkiichecking for new query: numPingsReceived=71, elapsed TxPingTime=34.661469ieMb@Mb@Mb@aaaa a9eZd;O?L7A`堿Q롿Yej<ԑE EE.E"EL;*E>:VEـ4ZEBE9yYy=]FyE>Q 5|4wy?Q 9|4")RBYeZ=Q Ex@Zd8E?ZeZ=ZeZ=ZFF@Zu?Q)Q U1iU9)Q]xYiYmchecking for new query: numPingsReceived=71, elapsed TxPingTime=34.777889i/,II9@ @@/@^A] 0Ii Iy O > ?lz,o?A>1@>p?@>>ٱ>+ NAHRS rotation from veh to nav: [[-0.981846,-0.137366,-0.130802],[0.141583,-0.989648,-0.023461],[-0.126225,-0.041555,0.991131]]>H Hk6f?2G%(`FX?i>1@I>];>CYZvByZIzDDAT read: Rx Time:04:03:18.4481 ~TRx dataTimestamp_ set to:1761537799.714028 PDAT read: Bearing 54.9, 69.7 (Local)  ~Local bearing/azimuth received: Bearing 54.9, 69.7 (Local) %DAT read: Range 11 to 50 : 30.3 m (trip time 20.2 ms) speed 0.0 UDAT read: 04:03:18.4481 LVL= 15904, 16737, 24562, 26227, AGC= 52, IDX= 512,-0.15,-0.081,-0.944,-1.974,-0.552, PHS= 0.573,-0.347,-1.466, RAW= 56.8, 13.9, CAL= 52.9, 17.4, ROT= 97.1, -17.4 ]Ygot valid direction response: 04:03:18.4481 LVL= 15904, 16737, 24562, 26227, AGC= 52, IDX= 512,-0.15,-0.081,-0.944,-1.974,-0.552, PHS= 0.573,-0.347,-1.466, RAW= 56.8, 13.9, CAL= 52.9, 17.4, ROT= 97.1, -17.4 eT#Rx 72: Read range and direction messages.m^direction in FSK: [-0.117945,0.946923,0.299041]mFpublishing direction and range infoyxz"ì1@_1M?-{#?YzfAxz >zaAz_ zsf)z4Iz!?izz㥻z}?zUlx>z\l? z|>)zi?Iz|xxz}X?ʝֺ뿰誹? z?)z;xIzi?iz|xxchecking for new query: numPingsReceived=72, elapsed TxPingTime=35.054478bD]VD]fy==%Q=ٔ5:;Q-5>91Y1==]Fy9=ƻE=>AQ 5M|4Ey?Q 9|4Ei")ERBYy ?Q I?EcCIE-g@Zd`cB?ZZZZ# ?M>)I M-0iM=9)IM{QiQiQY]=PIYIYDzDAAEE  EEEAEA"EEE;*EEZ:VEAZEAaU@aU@aU@aU@uchecking for new query: numPingsReceived=72, elapsed TxPingTime=35.281845B<A<B>B0CBIBuBB =BBDB;B:EI  >9= 9@9  @A @A @A ԙ ^A%S,I1IAOU?т, »?A8Bz1@B?@B~>ٱBz) NAHRS rotation from veh to nav: [[-0.981196,-0.140597,-0.132236],[0.144752,-0.989217,-0.022304],[-0.127674,-0.041026,0.990967]]BHe@`;?``֖Wi ?iBz1@IB];BCYVvByVIIZ<)Z=bD^VD^1yfF=nDDAT read: Rx Time:04:03:18.9481 vTRx dataTimestamp_ set to:1761537800.213315 PDAT read: Bearing 35.6, 72.9 (Local)  ~Local bearing/azimuth received: Bearing 35.6, 72.9 (Local) DAT read: Range 11 to 50 : 30.3 m (trip time 20.2 ms) speed 0.0 EDAT read: 04:03:18.9481 LVL= 12784, 13841, 26610, 24483, AGC= 51, IDX= 512,-0.18,-0.801,-1.855,-2.808,-1.465, PHS= 0.766,-0.345,-1.387, RAW= 61.1, 10.4, CAL= 58.5, 13.1, ROT= 91.5, -13.1 %M==ٔUVY;Q-U>9YYY=]]FyaMYgot valid direction response: 04:03:18.9481 LVL= 12784, 13841, 26610, 24483, AGC= 51, IDX= 512,-0.18,-0.801,-1.855,-2.808,-1.465, PHS= 0.766,-0.345,-1.387, RAW= 61.1, 10.4, CAL= 58.5, 13.1, ROT= 91.5, -13.1 uT#Rx 73: Read range and direction messages.rE>^direction in FSK: [-0.025496,0.973642,0.226651]Fpublishing direction and range infoypr.4γ(?+#?YppQ 5|4x?Q 9 |4!)}RBYy?Q I?cCIr?i <x|4 r j>)ri?Ir jpprf=?Yb@'? rT)rz9y)ɮ->A1Iri?ir jppmchecking for new query: numPingsReceived=73, elapsed TxPingTime=35.618374ԡipir »?AJirZARirZAjir(@bry1%К*_=@=Q]Y@Rr.4γ(?+#?Ziri?bir jjr#hv,R=;gA@ZrE(¿K^o￙m ?2ir:ir"ir(?*ir;30%BirBipipirBirbAir@% addTargetRange:: Added new target pos. range: 30.299999 m, deltaT: 0.499287 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 5 Added new target pos. range: 30.169079 m, bearing: 261.696377 deg, lat: 36.779338 deg, lon: -121.859557 deg, deltaT: 0.499287 s, deltaX: -0.000372 m, approachRate: -0.000745 m/s, posRepo size: 4 5DNOT Ignoring new targets: 30.17 m.h1h1*h9"hy hygyfyffddjdZd?ZZZZ?%~>)! %E.i%9)!-~)i)i)15c|IQIYE EE-E"EM;*E4:VEt4ZEBEchecking for new query: numPingsReceived=73, elapsed TxPingTime=35.785824 ,%»?Al%1@%&?@%S>ٱ%vw( MAHRS rotation from veh to nav: [[-0.980836,-0.142408,-0.132966],[0.146531,-0.988968,-0.021710],[-0.128407,-0.040778,0.990883]]%H ci:¿ ? $; oिO?i%1@I%c^;%CY]vBy]IiMb@Mb@Mb@ 9{Gz?ˡE:vY#=y'Լ-(A )Y1AbDVDJy(=%8=ٔ,:Q->9Y=]Fy%PE%>!Q 55|4%ww?Q 95|4%u!)%qRBY5Ԁ=Q E5RAAmDNOT Ignoring new targets: 30.17 m.hihi*hq"hq hqgqfqfyf}BdydyjdyZd r3?ZԀ=ZԀ=Z@Z@S>) G1i9)顽iiIIDDAT read: Rx Time:04:03:19.4480 TRx dataTimestamp_ set to:1761537800.717719PDAT read: Bearing 69.9, 71.8 (Local) ~Local bearing/azimuth received: Bearing 69.9, 71.8 (Local) -DAT read: Range 11 to 50 : 30.2 m (trip time 20.1 ms) speed 0.0 DAT read: 04:03:19.4480 LVL= 14240, 14401, 26178, 24211, AGC= 51, IDX= 511,-0.18,-1.213,-1.905,-3.107,-1.663, PHS= 0.552,-0.197,-1.488, RAW= 51.3, 12.6, CAL= 47.9, 14.6, ROT= 102.1, -14.6 Ygot valid direction response: 04:03:19.4480 LVL= 14240, 14401, 26178, 24211, AGC= 51, IDX= 511,-0.18,-1.213,-1.905,-3.107,-1.663, PHS= 0.552,-0.197,-1.488, RAW= 51.3, 12.6, CAL= 47.9, 14.6, ROT= 102.1, -14.6 T#Rx 74: Read range and direction messages.^direction in FSK: [-0.202850,0.946210,0.252069]Fpublishing direction and range infoyɿ6dYG?!?YA7A8Bf ^)9@ @@/@IO ?i^Iv5e?z0a>V? w>)?Iw9G !?GԘ? )aI?iwMchecking for new query: numPingsReceived=74, elapsed TxPingTime=36.0829241^A% OND- =D- <bE^n4jEȨo4rEp/E5  E5 E5 /E1 "E5 L;*E5 :VE5 J4ZE1 a= @a= @aE @aE @II Ia Om >Y  checking for new query: numPingsReceived=74, elapsed TxPingTime=36.289795B >B .CB 8IB uBB =B >DB DB ;B :Ex,n?»?A21@2~?@2>ٱ2I) :AHRS rotation from veh to nav: [[-0.980568,-0.143507,-0.133762],[0.147681,-0.988795,-0.021772],[-0.129139,-0.041103,0.990774]]2H `@l^¿` `3?`6 tK @| @l?i21@I2Y^;0Y~vByIAbDEVDE1ya=%R=ٔ<:Q->9Y=]FyGGE>Q 5|4|v?Q 9|4 )eRBYy@Q I?cCI:i:|4yɮ=Ai1i5-»?AJi5ARi5Aji5×@b5G_eE렋s<@'lHQQ@R5ɿ6dYG?!?Zi5?bi5wj5 ;$J?b2=lȂ@Z5.?V&￸_W?2i5:i5Ub?"i56?*i5 Bi5Bi1i5;30%i5tBi55Ai5P@ addTargetRange:: Added new target pos. range: 30.200001 m, deltaT: 0.504404 s, deltaX: -0.099998 m, approachRate: -0.198251 m/s, rangeRepo size: 4  Added new target pos. range: 30.068752 m, bearing: 271.734373 deg, lat: 36.779338 deg, lon: -121.859552 deg, deltaT: 0.504404 s, deltaX: -0.100327 m, approachRate: -0.198901 m/s, posRepo size: 4 DNOT Ignoring new targets: 30.07 m.hh*h"h hg fffddjd@33>@Zd@?ZYZYZYZ]@iu>)y }.i} 9)y} yiyiV)II=9@9 @A@E0@A DDAT read: Rx Time:04:03:19.9481  TRx dataTimestamp_ set to:1761537801.221196PDAT read: Bearing 43.3, 79.9 (Local) ~Local bearing/azimuth received: Bearing 43.3, 79.9 (Local) -DAT read: Range 11 to 50 : 30.3 m (trip time 20.2 ms) speed 0.0 uDAT read: 04:03:19.9481 LVL= 13600, 13489, 23202, 22899, AGC= 50, IDX= 512,-0.13,-0.884,-1.875,-3.119,-1.691, PHS= 0.910,-0.138,-1.472, RAW= 56.0, 6.8, CAL= 54.6, 6.8, ROT= 95.4, -6.8 Ygot valid direction response: 04:03:19.9481 LVL= 13600, 13489, 23202, 22899, AGC= 50, IDX= 512,-0.13,-0.884,-1.875,-3.119,-1.691, PHS= 0.910,-0.138,-1.472, RAW= 56.0, 6.8, CAL= 54.6, 6.8, ROT= 95.4, -6.8 ԙT#Rx 75: Read range and direction messages.^direction in FSK: [-0.093446,0.988559,0.118404]Fpublishing direction and range infoy  +F췿BE?EO?Y fA   5 4 Z sY) 2I h?i O j 5z? = s? =) + ?I    k1?fs{ 쿲3l? r掿) VI + ?i   m checking for new query: numPingsReceived=75, elapsed TxPingTime=36.621414^AE IQ Ia Om > EE  EE EE -EA "EE O;*EE :VEE t4ZEA BEE 8%H=ٔQ->9Y=]FyE>Q 5|4U%=U<]checking for new query: numPingsReceived=75, elapsed TxPingTime=36.794086u?Q 9|4& )[RBY=Q E@Zd-?ZE=ZE=ZE@ZE@Y)Y ].i]=9)aeaiaiiimIiIq-9@) @1@54@1^A- (I9 IQ Oe > DDAT read: Rx Time:04:03:20.4480  TRx dataTimestamp_ set to:1761537801.725328% PDAT read: Bearing 71.0, 72.1 (Local) % ~Local bearing/azimuth received: Bearing 71.0, 72.1 (Local) 5 DAT read: Range 11 to 50 : 30.2 m (trip time 20.1 ms) speed 0.0 ] DAT read: 04:03:20.4480 LVL= 12432, 13393, 23714, 22723, AGC= 50, IDX= 511,-0.04,-1.118,-1.794,-3.013,-1.571, PHS= 0.555,-0.177,-1.486, RAW= 50.7, 12.3, CAL= 47.5, 14.2, ROT= 102.5, -14.2  Ygot valid direction response: 04:03:20.4480 LVL= 12432, 13393, 23714, 22723, AGC= 50, IDX= 511,-0.04,-1.118,-1.794,-3.013,-1.571, PHS= 0.555,-0.177,-1.486, RAW= 50.7, 12.3, CAL= 47.5, 14.2, ROT= 102.5, -14.2  T#Rx 76: Read range and direction messages. ^direction in FSK: [-0.209826,0.946466,0.245307] Fpublishing direction and range infoy  T:ʿ,FrI?/;f?Y A  0 Q4 \  X) I {?i }?5 ?5 b? [> g;T?  }>) ?I }   o7Xf!?ڦ!<ӳ Y?  3) ,\I ?i }  - checking for new query: numPingsReceived=76, elapsed TxPingTime=37.0831532,&s»?A2X1@2N?@2>ٱ2t, :AHRS rotation from veh to nav: [[-0.979955,-0.146269,-0.135253],[0.150534,-0.988364,-0.021808],[-0.130489,-0.041731,0.990571]]2H[¿OD?T@@] ²?i2X1@I2_;2CYBDwByBI HJp<bDNVDN:yfx=%f]=ٔfMq;Q-j>9hYh=j]Fyhn)E~>Q 5 |4s?Q 9 |4c)RRBY y@Q I?cCI:i:P|4y9ɮ=@ZdP7?ZYZYZYZ]@m>)i mk,im˯9)顕'iiPII I)DzD@AE EE+E"EN;*E:VE [4ZEa@a@a@a@9@ @@3@)mchecking for new query: numPingsReceived=76, elapsed TxPingTime=37.298222B>BBjIB6vBB =BBB;B~:EQ^AI I! OM >y A,&»?A2 B1@27?@2.>ٱ2W- :AHRS rotation from veh to nav: [[-0.979667,-0.147578,-0.135916],[0.151892,-0.988155,-0.021878],[-0.131077,-0.042078,0.990479]]2HnY ¿e 2q? Hg @??i2 B1@I2`;2CYBbwByB#IbDJVDJNyR=%VM=ٔV:Q-V>9TYX=Z]FyXZxeEZ>fDDAT read: Rx Time:04:03:20.9481 fTRx dataTimestamp_ set to:1761537802.228787nPDAT read: Bearing 75.4, 65.6 (Local) n~Local bearing/azimuth received: Bearing 75.4, 65.6 (Local) vDAT read: Range 11 to 50 : 30.3 m (trip time 20.2 ms) speed -0.1 gGDAT read: 04:03:20.9481 LVL= 14240, 14129, 24898, 24819, AGC= 51, IDX= 512, 0.18,-0.615,-1.079,-2.100,-0.822, PHS= 0.309,-0.212,-1.322, RAW= 48.2, 16.7, CAL= 43.7, 19.7, ROT= 106.3, -19.7 -t.9)Y5AYaYgot valid direction response: 04:03:20.9481 LVL= 14240, 14129, 24898, 24819, AGC= 51, IDX= 512, 0.18,-0.615,-1.079,-2.100,-0.822, PHS= 0.309,-0.212,-1.322, RAW= 48.2, 16.7, CAL= 43.7, 19.7, ROT= 106.3, -19.7 Q 5|4er?Q 9|4ez)eHRBYT#Rx 77: Read range and direction messages.y@Q I?ecCIe<#=ie6#=e|4yɮ ifYfL7f\W?f;>f@C? fx >)fy?Ifx ddfֿF(+?0)ѳUXf? fZ)f/NIfy?ifx dd5 addTargetRange:: Added new target pos. range: 30.299999 m, deltaT: 0.503459 s, deltaX: 0.099998 m, approachRate: 0.198623 m/s, rangeRepo size: 4 =DNOT Ignoring new targets: 30.07 m.h9h9*h9"h9 h9g9fAfAfAMchecking for new query: numPingsReceived=77, elapsed TxPingTime=37.656551ddjdL>@Zdq?ZZZZ@.>) *i%9)Ai i  b଼IIԁE  E E 1E "E O;*E :VE -4ZE BE a2E a%JE G F,»?AF;ɰDf1@fy?@fG>ٱf, nAHRS rotation from veh to nav: [[-0.979235,-0.149838,-0.136558],[0.154102,-0.987828,-0.021154],[-0.131726,-0.041759,0.990406]]fH U`-ÿz`?@J``c_ah?if1@If`;fCYvwByv<IIz%=)z49AYA=E]FyAMEM>QQ 5]|4Up?Q 9]|4U)U?RBQ A]+:YYQ E];ye\@Q Ie?UcCIU:iU>Uw|4yiɮmf;Aiiir»?AJiXARiXAjik@bB;@G`]V$@RtּLпG?M?Ziy?bix j K@h^_<쵗Ң#@Z$:0b˳?j+.?2i:iJ@"ik\5?*iBiBi6?iiiAi՗@DNOT Ignoring new targets: 30.07 m.hh*h"h hgfffddjdZd)?G>)ԩ 'i9)顽ii=IIDDAT read: Rx Time:04:03:21.4481 TRx dataTimestamp_ set to:1761537802.733524PDAT read: Bearing 75.4, 75.3 (Local) ~Local bearing/azimuth received: Bearing 75.4, 75.3 (Local) DAT read: Range 11 to 50 : 30.3 m (trip time 20.2 ms) speed -0.1 =DAT read: 04:03:21.4481 LVL= 14272, 14657, 23538, 25059, AGC= 51, IDX= 512,-0.29, 2.035, 1.277,-0.210, 1.413, PHS= 0.724,-0.090,-1.667, RAW= 49.6, 9.8, CAL= 47.2, 10.7, ROT= 102.8, -10.7 EYgot valid direction response: 04:03:21.4481 LVL= 14272, 14657, 23538, 25059, AGC= 51, IDX= 512,-0.29, 2.035, 1.277,-0.210, 1.413, PHS= 0.724,-0.090,-1.667, RAW= 49.6, 9.8, CAL= 47.2, 10.7, ROT= 102.8, -10.7 MT#Rx 78: Read range and direction messages.U^direction in FSK: [-0.217696,0.958194,0.185667]UFpublishing direction and range infoyOz˿-? &K{?Y7A9[ a)IX9?iQB`տk]?%/>BR? t;?>)L?It;?E?^J@4F? \)8/IL?it;?uchecking for new query: numPingsReceived=78, elapsed TxPingTime=38.074970}9@y @y@}/@y^AϩIIO>E * E <E -E "E a;*E 1;VE t4ZE a @a @a @a @ } checking for new query: numPingsReceived=78, elapsed TxPingTime=38.305710B B B IB vBB =B B B s;B p:E1 |-,ƾ»?AR%0@R>@R>ٱR}) bAHRS rotation from veh to nav: [[-0.978808,-0.152117,-0.137096],[0.156283,-0.987508,-0.020092],[-0.132327,-0.041092,0.990354]]RHeRxÿ]?咔`@ ?iR%0@IR_;PYrwByrWI||bDVD0y=%M=ٔ:Q-]>9aYa=e]Fyae5Ee>iQ 5u|4m\o?Q 9u|4m)m5RBQ A} :YyQ E};y}5@Q I}?mcCIm;imDG?m|4y/Bɮ:Ai i »?AJi Ri ji F(@b 0 Ery70<@SYg@R Oz˿-? &K{?Zi L?bi t;?j <2 5?eģ) B%i9)顽ii8L˼II @ @@/@@@DDAT read: Rx Time:04:03:21.9482 TRx dataTimestamp_ set to:1761537803.236902PDAT read: Bearing 64.4, 69.5 (Local) ~Local bearing/azimuth received: Bearing 64.4, 69.5 (Local)  DAT read: Range 11 to 50 : 30.5 m (trip time 20.3 ms) speed -0.1 ]DAT read: 04:03:21.9482 LVL= 14800, 14929, 23058, 26019, AGC= 51, IDX= 513, 0.17,-2.116,-2.823, 2.356,-2.509, PHS= 0.494,-0.270,-1.462, RAW= 52.8, 14.4, CAL= 48.8, 17.2, ROT= 101.2, -17.2 eYgot valid direction response: 04:03:21.9482 LVL= 14800, 14929, 23058, 26019, AGC= 51, IDX= 513, 0.17,-2.116,-2.823, 2.356,-2.509, PHS= 0.494,-0.270,-1.462, RAW= 52.8, 14.4, CAL= 48.8, 17.2, ROT= 101.2, -17.2 eT#Rx 79: Read range and direction messages.m^direction in FSK: [-0.185548,0.937085,0.295708]}Fpublishing direction and range infoyǿ 4/?-?YA9Q:Z e)I>iq="k?>^ Z? `>)=?I`8$?K7] I ? i )X|I=?i`checking for new query: numPingsReceived=79, elapsed TxPingTime=38.583748A ^A I I O >E  E E ,E "E mR;*E :VE g4ZE BE @2Nf>ٱ2e' :AHRS rotation from veh to nav: [[-0.978461,-0.153946,-0.137528],[0.158035,-0.987246,-0.019260],[-0.132809,-0.040580,0.990311]]2H@O|ÿ`{:?@`Ƥ?i20@I2_;0YNwByNrIaa aa aa aa iMb@Mb@Mb@ 9MbX9?AY(0AbDVDܲy=%A=ٔ\:Q->9Y=]FyE>Q 5|4m?Q 9|45)+RBQ AT:Y2)>Q E;y?Q I?dCIK;i;P|4yɮ9Aiig)»?AJiARiAji@b$Q@щ`t<@a!@Rǿ 4/?-?Zi=?bi`jT@u@(=5 @ZkTĥ?2iB:iҽ"iSd?*i2BiBiiLp iiWAi@=checking for new query: numPingsReceived=79, elapsed TxPingTime=38.809875= addTargetRange:: Added new target pos. range: 30.500000 m, deltaT: 0.503378 s, deltaX: 0.200001 m, approachRate: 0.397317 m/s, rangeRepo size: 4 M Added new target pos. range: 30.367319 m, bearing: 269.798486 deg, lat: 36.779361 deg, lon: -121.859550 deg, deltaT: 0.503378 s, deltaX: 0.199131 m, approachRate: 0.395589 m/s, posRepo size: 4 UDNOT Ignoring new targets: 30.37 m.hQhQ*hQ"hY hYgYfYfafe]Bdadajde>@Zdm]m?Z]2)>Z]2)>Z]qڦ@Z]?Nf>) p-i9)顡iipּIII9@ @@/@qi I A DDAT read: Rx Time:04:03:22.4482  TRx dataTimestamp_ set to:1761537803.741949 PDAT read: Bearing 58.8, 62.9 (Local)  ~Local bearing/azimuth received: Bearing 58.8, 62.9 (Local) % DAT read: Range 11 to 50 : 30.5 m (trip time 20.3 ms) speed -0.1 ^AE F˼IQ Ia Om >} DAT read: 04:03:22.4482 LVL= 13040, 12833, 23634, 23459, AGC= 50, IDX= 513,-0.09, 0.273,-0.458,-1.455, 0.038, PHS= 0.337,-0.450,-1.537, RAW= 54.7, 19.7, CAL= 50.2, 24.1, ROT= 99.8, -24.1  Ygot valid direction response: 04:03:22.4482 LVL= 13040, 12833, 23634, 23459, AGC= 50, IDX= 513,-0.09, 0.273,-0.458,-1.455, 0.038, PHS= 0.337,-0.450,-1.537, RAW= 54.7, 19.7, CAL= 50.2, 24.1, ROT= 99.8, -24.1  T#Rx 80: Read range and direction messages. ^direction in FSK: [-0.155373,0.899514,0.408330] Fpublishing direction and range infoy  =ZDÿ?b7"?Y 2 !2 R\ [) 2I D>i ff澉 jĿ ft? x > K`? \>) ?ԡ I \׾ 2?_^[t:? ֑) I ?i \׾  checking for new query: numPingsReceived=80, elapsed TxPingTime=39.086826,/n»?A20@2^>@2>ٱ2' :AHRS rotation from veh to nav: [[-0.978129,-0.155756,-0.137855],[0.159814,-0.986968,-0.018806],[-0.133129,-0.040426,0.990274]]2H Lÿ`:t? >A` R?i20@I2u5_;2CY^wBy^uI ttbDVDye.E<%eO=ٔmwV:Q-m>9iYi=u]FyquyEu>Q 5|4k?Q 9|4)"RBYy?Q I? dCI:i$:D|4yɮ9Ai)i-|»?AJi)Ri)ji-@@b-d%̡)P;@P(@R-=ZDÿ?b7"?Zi-?bi-\׾j-itGt;9'@Z-;0.ĞsQ"?2i-:i-"i-f_?*i-^DBi-Bi)i-2i-Bi-Ai-@= addTargetRange:: Added new target pos. range: 30.500000 m, deltaT: 0.505047 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 M Added new target pos. range: 30.367319 m, bearing: 267.236679 deg, lat: 36.779361 deg, lon: -121.859547 deg, deltaT: 0.505047 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 MDNOT Ignoring new targets: 30.37 m.hIhQ*hq"hq hqgqfqfyfydydyjdZd@Z?ZZZZ?E& EE.E"E8^;*EA:VEـ4ZEa@a@a@a@>) "-iD9)*iiI I 5PExceeded connect timeout, disconnecting.ԡB->B)B-IB-vBB- =B)B)B-e;B-b:EMchecking for new query: numPingsReceived=80, elapsed TxPingTime=39.313866B.CB.CBBĶ =Bĵ =C;46UP95 9@1  @9 @= /@9  DDAT read: Rx Time:04:03:22.9483  TRx dataTimestamp_ set to:1761537804.245509 PDAT read: Bearing 66.4, 70.6 (Local)  ~Local bearing/azimuth received: Bearing 66.4, 70.6 (Local) 5 DAT read: Range 11 to 50 : 30.6 m (trip time 20.4 ms) speed -0.2 ^AU o=ڼIY Iq O} >Z,xû?ADAT read: 04:03:22.9483 LVL= 13904, 16673, 23074, 24483, AGC= 55, IDX= 2,-0.33, 2.252, 1.557, 0.392, 1.837, PHS= 0.517,-0.236,-1.489, RAW= 51.8, 13.7, CAL= 48.1, 16.1, ROT= 101.9, -16.1 XYgot valid direction response: 04:03:22.9483 LVL= 13904, 16673, 23074, 24483, AGC= 55, IDX= 2,-0.33, 2.252, 1.557, 0.392, 1.837, PHS= 0.517,-0.236,-1.489, RAW= 51.8, 13.7, CAL= 48.1, 16.1, ROT= 101.9, -16.1 5T#Rx 81: Read range and direction messages.^direction in FSK: [-0.198117,0.940131,0.277315]Fpublishing direction and range infoy  )w[ɿQ?/?Y A P6 !A "Z _) 7I Z?i q qg? Gt> V? ޏ>) ?I ޏ 2;?mwܬÛC? U) bmtI ?i ޏ checking for new query: numPingsReceived=81, elapsed TxPingTime=39.680122 0@ 2>@  >ٱ ^' eAHRS rotation from veh to nav: [[-0.977773,-0.157672,-0.138202],[0.161727,-0.986661,-0.018546],[-0.133435,-0.040485,0.990230]] HI.Ŀ@@z?cx?i 0@I _; CYmxByuIE EE-E"EM;*E]:VEt4ZEBE9Y=]FyJ\E >Q 5}4i?Q 9}4)RBY%H>Q E%;y%?Q I%?>dCI:i:}4yIɮUp9AQi i kû?AJi ARi Aji @b '$BQ<@^4 @R )w[ɿQ?/?Zi ?bi ޏj ؂2X?5w>d=1: @Z VHN}?: uotU¨?2i &:i 6_>"i bd{?*i Bi Bi bd{?i i i Ai @ addTargetRange:: Added new target pos. range: 30.600000 m, deltaT: 0.503560 s, deltaX: 0.100000 m, approachRate: 0.198587 m/s, rangeRepo size: 4  Added new target pos. range: 30.466850 m, bearing: 270.424896 deg, lat: 36.779352 deg, lon: -121.859547 deg, deltaT: 0.503560 s, deltaX: 0.099531 m, approachRate: 0.197655 m/s, posRepo size: 4 DNOT Ignoring new targets: 30.47 m.hh*h"h hgf!f!f!-=)5checking for new query: numPingsReceived=81, elapsed TxPingTime=39.818150dIdIjdM>@ZdMD?ZH>ZH>Zڥ@Z? >)  +i `9)iiEsIIIII]a=)]=E M9A 5 9@1  @1 @5 /@9 a DDAT read: Rx Time:04:03:23.4483 TRx dataTimestamp_ set to:1761537804.748774PDAT read: Bearing 67.8, 70.0 (Local) ~Local bearing/azimuth received: Bearing 67.8, 70.0 (Local) DAT read: Range 11 to 50 : 30.6 m (trip time 20.4 ms) speed -0.2 =DAT read: 04:03:23.4483 LVL= 16704, 19665, 24178, 25939, AGC= 53, IDX= 497, 0.46, 2.094, 1.421, 0.241, 1.701, PHS= 0.495,-0.235,-1.504, RAW= 51.2, 14.1, CAL= 47.3, 16.6, ROT= 102.7, -16.6 EYgot valid direction response: 04:03:23.4483 LVL= 16704, 19665, 24178, 25939, AGC= 53, IDX= 497, 0.46, 2.094, 1.421, 0.241, 1.701, PHS= 0.495,-0.235,-1.504, RAW= 51.2, 14.1, CAL= 47.3, 16.6, ROT= 102.7, -16.6 MT#Rx 82: Read range and direction messages.M^direction in FSK: [-0.210683,0.934877,0.285688]UFpublishing direction and range infoy^AUIIO?-,{1û?Aɰ0BBʿ ?WԷH?Y@ALr^ Se)5Ip>iףpd?d{>VS? V>)o?IVbYf?ke-Z*(T*? ϙ){Io?iVFchecking for new query: numPingsReceived=82, elapsed TxPingTime=40.112080t >}0@ r>@ *% >ٱ ( AHRS rotation from veh to nav: [[-0.977449,-0.159512,-0.138382],[0.163595,-0.986353,-0.018571],[-0.133531,-0.040791,0.990205]] HBG@jĿ}`?3?⤿¯?i >}0@I ^; CYxByIbDVD1y-Qd=%-O=ٔ59Q-5>91Y1==]Fy9=E=>Q 5}42g?Q 9}4)RBYy?Q I?QdCI:i:}4yɮ9Aii/û?AJiRiji^@bHa0Δ{<@6g{uh!@R0BBʿ ?WԷH?Zio?biVjWH?[D(;GN=ˠ @Z)! %*i%9)!- )i)i)15I1IYE+ E E.E"Eb;*E:VEـ4ZEa@a@a@a@nManaging dock network, ignoring radio surface power offU>9B>BBIB4wBB =BBBO;BJ:E9@ @@/@checking for new query: numPingsReceived=82, elapsed TxPingTime=40.323921Iy ^A +OI I) O= >,4Kû?A2iZ0@2P>@2" >ٱ2) :AHRS rotation from veh to nav: [[-0.977100,-0.161572,-0.138456],[0.165672,-0.986006,-0.018544],[-0.133522,-0.041058,0.990195]]2H@gD`dĿ@4?`]`5A``?i2iZ0@I2^;0YB,xByBIIFR=)F%=bDNVDN0yVS=%Vh=ٔV@ηQ-V>9XYX=Z]FyXZŻE^>`Q 5f}4be?Q 9f}4b)bQBYdyf?Q If?bbdCIb:ib$:b}4yhɮn8AlDNOT Ignoring new targets: 30.47 m.hh*h"h  h g f f fddjdZd?Z1Z1yZ1Z5?" >) (i9)0ii4IImDDAT read: Rx Time:04:03:23.9485 mTRx dataTimestamp_ set to:1761537805.253700}PDAT read: Bearing 68.1, 70.5 (Local) ~Local bearing/azimuth received: Bearing 68.1, 70.5 (Local) DAT read: Range 11 to 50 : 30.9 m (trip time 20.6 ms) speed -0.3 DAT read: 04:03:23.9485 LVL= 13776, 15857, 23906, 23123, AGC= 52, IDX= 499, 0.44,-3.014, 2.599, 1.410, 2.868, PHS= 0.504,-0.223,-1.501, RAW= 51.0, 13.8, CAL= 47.3, 16.2, ROT= 102.7, -16.2 Ygot valid direction response: 04:03:23.9485 LVL= 13776, 15857, 23906, 23123, AGC= 52, IDX= 499, 0.44,-3.014, 2.599, 1.410, 2.868, PHS= 0.504,-0.223,-1.501, RAW= 51.0, 13.8, CAL= 47.3, 16.2, ROT= 102.7, -16.2 T#Rx 83: Read range and direction messages.09IgA)fA^direction in FSK: [-0.211117,0.936800,0.278991]Fpublishing direction and range infoyimJ^˿OC??Ym3Aim5m=mb] mSZ)m4Im%?imZdm mc?mϢv>i mÐ>)iImÐiimf%XB?vˠcyt? m.)m]vIiimÐiiuchecking for new query: numPingsReceived=83, elapsed TxPingTime=40.6095439@ @@5@ԩE EE)E"EN;*E&:VEFA4ZEBEo checking for new query: numPingsReceived=83, elapsed TxPingTime=40.827789 <,eû?AE 60@E+>@E( >ٱE* mAHRS rotation from veh to nav: [[-0.976739,-0.163724,-0.138475],[0.167837,-0.985641,-0.018492],[-0.133459,-0.041303,0.990193]]EH`rAĿ{?_.%੯?iE 60@IE4^;ECY}1xBy}Ii Mb@Mb@Mb@     9 |?5^?Zd;OǿI +Y =y j< 94   )  Y !!bD%VD%:2y5*<%=3=ٔ=Q-=>9AYA=E]FyAE'EM>IQ 5U}4M%c?Q 9]}4M)MQBY]\>Q E]v;y]?Q I]?M{dCIM:iM:M.}4yaɮm8Aiii"i󇝊?*i BirBiiiivAi@} addTargetRange:: Added new target pos. range: 30.900000 m, deltaT: 0.504926 s, deltaX: 0.299999 m, approachRate: 0.594145 m/s, rangeRepo size: 4  Added new target pos. range: 30.765488 m, bearing: 270.843770 deg, lat: 36.779352 deg, lon: -121.859547 deg, deltaT: 0.504926 s, deltaX: 0.298637 m, approachRate: 0.591448 m/s, posRepo size: 4 DNOT Ignoring new targets: 30.77 m.hh*h"h hgffftBddjd`f>@Zd ?Z\>Z\>Zt @Zy?( >) +i9)額_iiq IIDDAT read: Rx Time:04:03:24.4485 TRx dataTimestamp_ set to:1761537805.761710PDAT read: Bearing 66.4, 70.5 (Local) ~Local bearing/azimuth received: Bearing 66.4, 70.5 (Local) DAT read: Range 11 to 50 : 30.9 m (trip time 20.6 ms) speed -0.3 DAT read: 04:03:24.4485 LVL= 13296, 17217, 21554, 23123, AGC= 52, IDX= 499, 0.49, 1.312, 0.620,-0.560, 0.903, PHS= 0.511,-0.238,-1.506, RAW= 51.6, 13.9, CAL= 47.8, 16.3, ROT= 102.2, -16.3 Ygot valid direction response: 04:03:24.4485 LVL= 13296, 17217, 21554, 23123, AGC= 52, IDX= 499, 0.49, 1.312, 0.620,-0.560, 0.903, PHS= 0.511,-0.238,-1.506, RAW= 51.6, 13.9, CAL= 47.8, 16.3, ROT= 102.2, -16.3 T#Rx 84: Read range and direction messages.^direction in FSK: [-0.202831,0.938129,0.280667]Fpublishing direction and range infoyZɿ:>A'?rwkq?Y3AC2T )9I?iFsf?Ulx>U? >)&Q?I抭G?mN쿠jc1? :똿)wI&Q?ichecking for new query: numPingsReceived=84, elapsed TxPingTime=41.133350)M9@I @I@M>0@ID zD AAbE%t4jE%ʆs4rE%+0E 4 E E -E "E j;*E :VE t4ZE a @a @a @a @Y ^Am Iy I O >2&,Uû?AB>B-CB&IBgwBB =B BDB7;B2:ERchecking for new query: numPingsReceived=84, elapsed TxPingTime=41.335175f 0@f>@f >ٱfA* %AHRS rotation from veh to nav: [[-0.976317,-0.166201,-0.138501],[0.170289,-0.985228,-0.018126],[-0.133443,-0.041282,0.990196]]fH =Fſg?"`?if 0@If^;dY=xByIbDVDfyv<%L=ٔU,Q->9Y=]Fy̻E>Q 5}4`?Q 9}4)QBYy?Q I?dCI,A'?rwkq?Zi}&Q?bi}j}@ ~?${n=pTb @Z} "j?$?#JM ?2i}<:i}="i}2"`i?*i}XљBi}Biyi}Xљi}Bi}@Ai}z"@M addTargetRange:: Added new target pos. range: 30.900000 m, deltaT: 0.508010 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 } Added new target pos. range: 30.765438 m, bearing: 270.192397 deg, lat: 36.779352 deg, lon: -121.859547 deg, deltaT: 0.508010 s, deltaX: -0.000050 m, approachRate: -0.000098 m/s, posRepo size: 4 DNOT Ignoring new targets: 30.77 m.hh*h"h hgfffddjdZdZ?ZIZIZIZMS? >) *i9)&iiIIMDDAT read: Rx Time:04:03:24.9487 UTRx dataTimestamp_ set to:1761537806.264675]PDAT read: Bearing 65.5, 71.0 (Local) ]~Local bearing/azimuth received: Bearing 65.5, 71.0 (Local) mDAT read: Range 11 to 50 : 31.2 m (trip time 20.8 ms) speed -0.2 DAT read: 04:03:24.9487 LVL= 14288, 18737, 23970, 23619, AGC= 52, IDX= 501, 0.44, 2.428, 1.728, 0.550, 2.007, PHS= 0.523,-0.234,-1.501, RAW= 51.7, 13.6, CAL= 48.0, 16.0, ROT= 102.0, -16.0 Ygot valid direction response: 04:03:24.9487 LVL= 14288, 18737, 23970, 23619, AGC= 52, IDX= 501, 0.44, 2.428, 1.728, 0.550, 2.007, PHS= 0.523,-0.234,-1.501, RAW= 51.7, 13.6, CAL= 48.0, 16.0, ROT= 102.0, -16.0 T#Rx 85: Read range and direction messages.^direction in FSK: [-0.199858,0.940256,0.275637]Fpublishing direction and range infoyIMqɿzxn[? ?YMAIM7M1IM] MC\)IIMT?iMoM Mqf?Ms>MPwV? M5>)M?IM5IIM?;쿕3? Mg)M sIM?iM5IIchecking for new query: numPingsReceived=85, elapsed TxPingTime=41.601555 9 9@  @ @ /@ @ =@ =Em  Em %Em *Ei "Em &U;*Em ;VEm (N4ZEi BEm ٱn+ AHRS rotation from veh to nav: [[-0.975287,-0.172051,-0.138612],[0.176118,-0.984213,-0.017530],[-0.133408,-0.041509,0.990192]]nH5ƿ` ?`~ @`?in'/@In^;nCYLxByI iMb@Mb@Mb@ 9 rh?ʡEƿMbYC=y-2@j4A\'A );AY.AbDVDky"<%=ٔ+vQ->9Y=]Fy #E >Q 5}4y_?Q 9}4 )QBYBE>Q E;y?Q I%?dCIq ;i ;Q}4y)ɮ-7A)iioû?AJiARiAji@b7桊gsgN5=@QI͈!@Rqɿzxn[? ?Zi?bi5j>m Ŀ<<=ieF0 @Z ls1;tT8+~U!?2i:i "i0:R?*i BiVBiiirBiAi&@ addTargetRange:: Added new target pos. range: 31.200001 m, deltaT: 0.502965 s, deltaX: 0.300001 m, approachRate: 0.596465 m/s, rangeRepo size: 4  Added new target pos. range: 31.064133 m, bearing: 269.699684 deg, lat: 36.779352 deg, lon: -121.859548 deg, deltaT: 0.502965 s, deltaX: 0.298695 m, approachRate: 0.593868 m/s, posRepo size: 4 DNOT Ignoring new targets: 31.06 m.hh*h"h hgfffcBddjd@33?@Zd@-[?ZBE>ZBE>Z۷@Zp? >) 'i9)Ȟiio\)II9iqIq}DDAT read: Rx Time:04:03:25.4487 TRx dataTimestamp_ set to:1761537806.769128PDAT read: Bearing 65.1, 70.9 (Local) ~Local bearing/azimuth received: Bearing 65.1, 70.9 (Local) DAT read: Range 11 to 50 : 31.2 m (trip time 20.8 ms) speed -0.2 DAT read: 04:03:25.4487 LVL= 12528, 16817, 23762, 23187, AGC= 51, IDX= 501, 0.39, 1.720, 1.020,-0.157, 1.301, PHS= 0.521,-0.236,-1.502, RAW= 51.7, 13.7, CAL= 48.0, 16.1, ROT= 102.0, -16.1 Ygot valid direction response: 04:03:25.4487 LVL= 12528, 16817, 23762, 23187, AGC= 51, IDX= 501, 0.39, 1.720, 1.020,-0.157, 1.301, PHS= 0.521,-0.236,-1.502, RAW= 51.7, 13.7, CAL= 48.0, 16.1, ROT= 102.0, -16.1 T#Rx 86: Read range and direction messages.^direction in FSK: [-0.199757,0.939784,0.277315]Fpublishing direction and range infoyy}9bɿ9?/?Yyy}0}A}\ }Z)}3I}B`?i}q}Ay}Gt>y }ޏ>)yI}ޏyy}8(*? ,[la8:? })}$tIyi}ޏyychecking for new query: numPingsReceived=86, elapsed TxPingTime=42.106419i%,9 9@  @ @ /@ ԑ D <D <E  E E E "E Q;*E :VE ZE a @a @a @a @B >B .CB 2IB |wBB B B DB ;B :E^A I I -checking for new query: numPingsReceived=86, elapsed TxPingTime=42.341797O=>'[,R~û?Afm/@f$c=@fz>ٱf \, nAHRS rotation from veh to nav: [[-0.974633,-0.175732,-0.138598],[0.179788,-0.983555,-0.017211],[-0.133294,-0.041692,0.990199]]fH 10``~ƿ I?Gy``X`?ifm/@If^;dYv8xByvIbDVDfy EE% J=ٔ9Y=]FyE%>!Q 5-}4%{^?Q 9-}4% )%QBY1y5-?Q I5?%dCI%:i%-:%_}4yɮ@8AԹiie9û?AJiRijib@bXaz9̚21=@:!@R9bɿ9?/?Zibiޏj[p"ѿ8=WJG @Zyʃ7Dh"TI?2i:iy"iLo2G?*iA:BidBi2"`i?i ii^AiM@u addTargetRange:: Added new target pos. range: 31.200001 m, deltaT: 0.504453 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 31.064188 m, bearing: 269.471896 deg, lat: 36.779350 deg, lon: -121.859548 deg, deltaT: 0.504453 s, deltaX: 0.000055 m, approachRate: 0.000110 m/s, posRepo size: 4 DNOT Ignoring new targets: 31.06 m.hh*h"h hgfffddjdZd ?ZZZZa-?-z>)1 5(i59)15䵶1i9i99E5IAI g>C%G=hAQ}c/9}hAY}~ADDAT read: Rx Time:04:03:25.9488 TRx dataTimestamp_ set to:1761537807.275651PDAT read: Bearing 64.0, 70.6 (Local) ~Local bearing/azimuth received: Bearing 64.0, 70.6 (Local) DAT read: Range 11 to 50 : 31.2 m (trip time 20.8 ms) speed -0.2  DAT read: 04:03:25.9488 LVL= 12256, 14833, 25362, 23795, AGC= 51, IDX= 503, 0.27,-2.760, 2.807, 1.630, 3.105, PHS= 0.520,-0.253,-1.519, RAW= 52.1, 13.9, CAL= 48.2, 16.5, ROT= 101.8, -16.5 UP9Ygot valid direction response: 04:03:25.9488 LVL= 12256, 14833, 25362, 23795, AGC= 51, IDX= 503, 0.27,-2.760, 2.807, 1.630, 3.105, PHS= 0.520,-0.253,-1.519, RAW= 52.1, 13.9, CAL= 48.2, 16.5, ROT= 101.8, -16.5  M T#Rx 87: Read range and direction messages. ^direction in FSK: [-0.196075,0.938557,0.284015] Fpublishing direction and range infoy~29ɿs?HN-? 9@  @ @ /@ Y/9c \)I?i7n¿h?Ulx>\W? r>)cl?IrRfR?{׍? q˗).0yIcl?irM checking for new query: numPingsReceived=87, elapsed TxPingTime=42.7145849 E  E E )E "E mR;*E :VE FA4ZE BE 0,û?AFG+/@F =@F>ٱF6. RAHRS rotation from veh to nav: [[-0.973908,-0.179647,-0.138674],[0.183729,-0.982828,-0.017109],[-0.133219,-0.042141,0.990190]]FH@*ƿ`l?SsT `?iFG+/@IF^;DY^AxBybInchecking for new query: numPingsReceived=87, elapsed TxPingTime=42.846581xiMb@Mb@Mb@ 9(\µ?ʡEÿT㥛 Y=y;5A%A v"A)Y=.AbDMVDMyu<%}=ٔ\Q->9Y=]FyE>Q 5}4J\?Q 9}4D)uQBYS?>Q E;y?Q I?dCI;i2;Gs}4yɮ8AYiiDû?AJiRiji ;@b^v]%^'=@Ҵ9!@R~29ɿs?HN-?Zicl?birj C^=9L @Znq9aЛ#?2if:iz"i/?*i{^BiČBi0:R?iiiAiP@ addTargetRange:: Added new target pos. range: 31.200001 m, deltaT: 0.506523 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 31.064188 m, bearing: 268.986858 deg, lat: 36.779348 deg, lon: -121.859548 deg, deltaT: 0.506523 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 31.06 m.hh*h"h hgfffNBddjdZd`?Z%S?>Z%S?>Z%m@Z%̇?5>)1 =%i= 9)9=xͶ9i9iAAE#tBIAIIԉDDAT read: Rx Time:04:03:26.4488 TRx dataTimestamp_ set to:1761537807.776725PDAT read: Bearing 62.6, 69.8 (Local) ~Local bearing/azimuth received: Bearing 62.6, 69.8 (Local) DAT read: Range 11 to 50 : 31.2 m (trip time 20.8 ms) speed -0.2 DAT read: 04:03:26.4488 LVL= 12496, 15633, 22002, 24291, AGC= 52, IDX= 503, 0.12, 2.883, 2.150, 0.982, 2.475, PHS= 0.510,-0.280,-1.537, RAW= 52.5, 14.5, CAL= 48.4, 17.3, ROT= 101.6, -17.3 Ygot valid direction response: 04:03:26.4488 LVL= 12496, 15633, 22002, 24291, AGC= 52, IDX= 503, 0.12, 2.883, 2.150, 0.982, 2.475, PHS= 0.510,-0.280,-1.537, RAW= 52.5, 14.5, CAL= 48.4, 17.3, ROT= 101.6, -17.3 T#Rx 88: Read range and direction messages.^direction in FSK: [-0.191981,0.935260,0.297375]Fpublishing direction and range infoywגȿ{?+0?Y0=U ^)4I\?i)\jĿj?>@X? #>)?I#h`?Qݟ:Sy? ͖)|I?i# checking for new query: numPingsReceived=88, elapsed TxPingTime=43.113827U M9Ա 9@  @ @ /@ @ gA@ fAE  E E +E "E N;*E :VE [4ZE a @a @a @a @ B<ABB-CB8IBwBBBBB;B :E^A3I!Echecking for new query: numPingsReceived=88, elapsed TxPingTime=43.350868IyO ?,Ļ?AٱR/ ZAHRS rotation from veh to nav: [[-0.973082,-0.183984,-0.138785],[0.188084,-0.982007,-0.016911],[-0.133176,-0.042559,0.990178]]RH}#Ɍǿ@?l6Q Uʥ ?iR.@IR ^;PY%@xBy%II%=)=bDVDky]0_%]!=ٔuaQ-}>9Y=]FyE>Q 5}4VZ?Q 9}4)RQBYy?Q I?dCI:i;}4yɮ$8Aiiݵû?AJiRijit@bWMI =@Ft)y"@Rwגȿ{?+0?Zi?bi#jGg_E=t#h!@Z>\*U˴S8?2iw:iR"iͣ?*i9 BiBiLo2G?iXљiBi(Ai덖@ addTargetRange:: Added new target pos. range: 31.200001 m, deltaT: 0.501074 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 ԩ Added new target pos. range: 31.064150 m, bearing: 268.416273 deg, lat: 36.779347 deg, lon: -121.859547 deg, deltaT: 0.501074 s, deltaX: -0.000038 m, approachRate: -0.000076 m/s, posRepo size: 4 DNOT Ignoring new targets: 31.06 m.hh*h"h hgfffddjdZd9?ZZZZB?g>) %iS9)t嶉ii4~QII9iQIQeDDAT read: Rx Time:04:03:26.9489 eTRx dataTimestamp_ set to:1761537808.281331mPDAT read: Bearing 59.8, 69.5 (Local) u~Local bearing/azimuth received: Bearing 59.8, 69.5 (Local) DAT read: Range 11 to 50 : 31.4 m (trip time 20.9 ms) speed -0.2 DAT read: 04:03:26.9489 LVL= 12768, 14721, 24178, 23923, AGC= 51, IDX= 504,-0.06, 0.950, 0.195,-0.932, 0.541, PHS= 0.512,-0.301,-1.516, RAW= 53.5, 14.6, CAL= 49.3, 17.7, ROT= 100.7, -17.7 Ygot valid direction response: 04:03:26.9489 LVL= 12768, 14721, 24178, 23923, AGC= 51, IDX= 504,-0.06, 0.950, 0.195,-0.932, 0.541, PHS= 0.512,-0.301,-1.516, RAW= 53.5, 14.6, CAL= 49.3, 17.7, ROT= 100.7, -17.7 T#Rx 89: Read range and direction messages.^direction in FSK: [-0.176877,0.936097,0.304033]Fpublishing direction and range infoyaeyvVƿ>>q?z0Gu?Ye3Aae1e9er^ es])e3Ieo?ieeJ ¿eQ o?ew>eFF\? e2+>9@ @@/@)eI?Ie2+aae?Af25)? ew)eTIeI?ie2+aachecking for new query: numPingsReceived=89, elapsed TxPingTime=43.623760a ^A &t@I I O >,\Ļ?AE EE/E"E*EVEJ4ZEBEoٱbWR1 nAHRS rotation from veh to nav: [[-0.972161,-0.188723,-0.138878],[0.192825,-0.981093,-0.016575],[-0.133124,-0.042893,0.990171]]9bH(ȿ`{?e 5 z?ib).@IbO^;bCYUFxByUIchecking for new query: numPingsReceived=89, elapsed TxPingTime=43.854412iMb@Mb@Mb@ 9~jt?V-x&Y=y72A  A)O9AY,AbDVDqyEc<%}/=ٔ(Q->9Y=]Fy(E>Q 5-}4X?Q 95}4e)/QBY=>Q Ee;ye?Q Im?eCI|>q?z0Gu?ZiI?bi2+j@yPf=i!@Z5V4VՄB4?2i|:iϻ"iNܜ?*iBiBi/?i{^iČBiAiG@e addTargetRange:: Added new target pos. range: 31.400000 m, deltaT: 0.504606 s, deltaX: 0.199999 m, approachRate: 0.396347 m/s, rangeRepo size: 4 u Added new target pos. range: 31.263279 m, bearing: 267.193945 deg, lat: 36.779344 deg, lon: -121.859547 deg, deltaT: 0.504606 s, deltaX: 0.199129 m, approachRate: 0.394623 m/s, posRepo size: 4 DNOT Ignoring new targets: 31.26 m.hh*h"h hgfffBddjd`ff?@ZdS?Z>Z>ZF[@ZT?>)! %\i%9)!%X!i!i))5aI1I1ԙm DDAT read: Rx Time:04:03:27.4489 u TRx dataTimestamp_ set to:1761537808.784658} PDAT read: Bearing 61.2, 68.5 (Local) } ~Local bearing/azimuth received: Bearing 61.2, 68.5 (Local)  DAT read: Range 11 to 50 : 31.4 m (trip time 20.9 ms) speed -0.1  DAT read: 04:03:27.4489 LVL= 12768, 15841, 20978, 22979, AGC= 51, IDX= 504,-0.42, 0.112,-0.613,-1.737,-0.262, PHS= 0.476,-0.306,-1.519, RAW= 52.9, 15.3, CAL= 48.6, 18.5, ROT= 101.4, -18.5  Ygot valid direction response: 04:03:27.4489 LVL= 12768, 15841, 20978, 22979, AGC= 51, IDX= 504,-0.42, 0.112,-0.613,-1.737,-0.262, PHS= 0.476,-0.306,-1.519, RAW= 52.9, 15.3, CAL= 48.6, 18.5, ROT= 101.4, -18.5 E T#Rx 90: Read range and direction messages.M ^direction in FSK: [-0.187443,0.929614,0.317305]M Fpublishing direction and range infoyi m -#ǿKf?Hs%N?Yi i i m =m Q m Y)i Im F>im m n¿m \l?m ܸ>m %Y? m MQ>)m ?Im MQi i m a?`oXžnϝ? m 앿)m 䈾Im ?im MQi i u checking for new query: numPingsReceived=90, elapsed TxPingTime=44.139973 m9 9@  @ @ /@ @ =@ = E EE)E"EUS;*E:VEFA4ZEa@a@a@a@BM>BIBIBIBM =BIBMDBM;BM9EB-CB-CBѓCBBѷ =CYF5^A8RԉIIO?g,GAĻ?A.checking for new query: numPingsReceived=90, elapsed TxPingTime=44.358765@@vK-@v;@v>ٱv2 ~AHRS rotation from veh to nav: [[-0.970016,-0.199382,-0.138979],[0.203430,-0.978968,-0.015409],[-0.132984,-0.043220,0.990175]]vH_ \ɿ ? SŽ@ `?ivK-@Ivr^;vCY_xByI  ae<bD}VD}y Z6=% =ٔ5Q-->91Y9==]Fy9=bE=>AQ 5M}4EV?Q 9M}4E)EQBYIyUg?Q IU?EeCIEa;iE;E}4yYɮ]7AYi)i-72Ļ?AJi-ARi-Aji-2@b-FZpT&=@׋#@R--#ǿKf?Hs%N?Zi-?bi-MQj-i|=!"@Z-'@bIꧩ iK!?2i-^:i-"i-Rٜ?*i-OBi-Bi-ͣ?i-i-Bi-Ai-q@ addTargetRange:: Added new target pos. range: 31.400000 m, deltaT: 0.503327 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 31.263098 m, bearing: 267.139370 deg, lat: 36.779341 deg, lon: -121.859546 deg, deltaT: 0.503327 s, deltaX: -0.000181 m, approachRate: -0.000360 m/s, posRepo size: 4 DNOT Ignoring new targets: 31.26 m.hh*h"h hgfffddjdZd`}?ZZZZcg? >)  i 9)iimكII!DDAT read: Rx Time:04:03:27.9490  TRx dataTimestamp_ set to:1761537809.288829PDAT read: Bearing 64.2, 68.3 (Local) ~Local bearing/azimuth received: Bearing 64.2, 68.3 (Local) -DAT read: Range 11 to 50 : 31.5 m (trip time 21.0 ms) speed -0.1 91  DAT read: 04:03:27.9490 LVL= 12320, 14833, 22930, 23395, AGC= 50, IDX= 505, 0.02, 2.989, 2.311, 1.153, 2.638, PHS= 0.453,-0.282,-1.528, RAW= 51.5, 15.5, CAL= 47.2, 18.5, ROT= 102.8, -18.5 = Ygot valid direction response: 04:03:27.9490 LVL= 12320, 14833, 22930, 23395, AGC= 50, IDX= 505, 0.02, 2.989, 2.311, 1.153, 2.638, PHS= 0.453,-0.282,-1.528, RAW= 51.5, 15.5, CAL= 47.2, 18.5, ROT= 102.8, -18.5 U 9@Y  @Y @] /@a E T#Rx 91: Read range and direction messages. ^direction in FSK: [-0.210100,0.924757,0.317305]= Fpublishing direction and range infoy_2ʿ,pf?Hs%N?YA 09Y c[)2I>iNbÿf?c>BR? )L?In?_7Jky? )*IL?i checking for new query: numPingsReceived=91, elapsed TxPingTime=44.740028Y E%  E% E% ,E! "E% sH;*E% :VE% g4ZE! BE% ,aĻ?AH^checking for new query: numPingsReceived=91, elapsed TxPingTime=44.861881jH|-@jq;@j>ٱj3 rAHRS rotation from veh to nav: [[-0.968772,-0.205283,-0.139069],[0.209289,-0.977744,-0.014668],[-0.132963,-0.043315,0.990174]]jH-Fʿ?@I k-`?ijH|-@Ij-^;hYzVxByzIiMb@Mb@Mb@ 9Zd;O?ʡEV-Yj<=y-m3A$A /A)~8AY,AbDUVDU yw% =ٔP.Q->9Y=]FyCE>ԹQ 5}4U?Q 9}4N)PBY=Q E;y?Q I? eCI:i<:}4yɮ7Aii-|RĻ?AJiARiAjidƕ@b8ǧm[8=@|g-#@R_2ʿ,pf?Hs%N?ZiL?bijNhu'p=I{"@ZpS>'Z]Y} U?2i:iGt"i?*iJBiBi?i9 iBiAiRǕ@ addTargetRange:: Added new target pos. range: 31.500000 m, deltaT: 0.504171 s, deltaX: 0.100000 m, approachRate: 0.198346 m/s, rangeRepo size: 4  Added new target pos. range: 31.362661 m, bearing: 268.171036 deg, lat: 36.779340 deg, lon: -121.859545 deg, deltaT: 0.504171 s, deltaX: 0.099564 m, approachRate: 0.197480 m/s, posRepo size: 4 DNOT Ignoring new targets: 31.36 m.hh*h"h hgfffBddjd?@Zds?Z5=Z5=Z5>\@Z5Ӹ?>) i׷9) ii!)-IQIYIeK?)eA?-9uDDAT read: Rx Time:04:03:28.4489 }TRx dataTimestamp_ set to:1761537809.793880PDAT read: Bearing 66.2, 67.2 (Local) ~Local bearing/azimuth received: Bearing 66.2, 67.2 (Local) DAT read: Range 11 to 50 : 31.4 m (trip time 20.9 ms) speed 0.0 9@ @@@DAT read: 04:03:28.4489 LVL= 12928, 15009, 23506, 25667, AGC= 50, IDX= 504, 0.34, 2.789, 2.150, 0.980, 2.477, PHS= 0.415,-0.281,-1.541, RAW= 50.6, 16.2, CAL= 46.1, 19.4, ROT= 103.9, -19.4 Ygot valid direction response: 04:03:28.4489 LVL= 12928, 15009, 23506, 25667, AGC= 50, IDX= 504, 0.34, 2.789, 2.150, 0.980, 2.477, PHS= 0.415,-0.281,-1.541, RAW= 50.6, 16.2, CAL= 46.1, 19.4, ROT= 103.9, -19.4 T#Rx 92: Read range and direction messages. ^direction in FSK: [-0.226589,0.915602,0.332161] Fpublishing direction and range infoyy}8ͿL?` B?Y}3Ay}2}:}[ }Cd)yI}z>i};ߏ}}?ſ}=b?}Ð>}M? }-\>)}f?I}-\yy}a??R? }()}\I}f?i}-\^A |I I O >yy checking for new query: numPingsReceived=92, elapsed TxPingTime=45.159618 ,zĻ?A6-@62 ;@6B>ٱ6 4 BAHRS rotation from veh to nav: [[-0.967416,-0.211430,-0.139299],[0.215414,-0.976422,-0.013999],[-0.133055,-0.043550,0.990151]]6H#˿ `?@>|@(LR?i6-@I6s^;6CY^mxBy^IbDjVDj0yr=%r=ٔv9Q-v?9tYt=z]FyxzuEz?|Q 5 }4U?Q 9 }4)PBY y ?Q I ?'eCIl:i :}4yɮo7AEE EEEE)EA"EE,K;*EE#:VEEFA4ZEAaM@aM@aM@aM@iirĻ?AJiARiAji`@b8UhlmQ<@2$@R8ͿL?` B?Zif?bi-\jV5%`J"=f#@ZI%ܵQ//m?2i:iE%"iW?*i Bi+BiiJiBijAi.ȕ@ addTargetRange:: Added new target pos. range: 31.400000 m, deltaT: 0.505051 s, deltaX: -0.100000 m, approachRate: -0.198001 m/s, rangeRepo size: 4  Added new target pos. range: 31.263098 m, bearing: 268.751445 deg, lat: 36.779340 deg, lon: -121.859544 deg, deltaT: 0.505051 s, deltaX: -0.099564 m, approachRate: -0.197136 m/s, posRepo size: 4 DNOT Ignoring new targets: 31.26 m.hh*h"h hgfffddjd`ff?@Zdn?ZZZZ?B>) \i9)LiiQ엽IIAAAAB>BBBB =BBB;B9Echecking for new query: numPingsReceived=92, elapsed TxPingTime=45.366066)9Q9@ @@@@@gAԁ  DDAT read: Rx Time:04:03:28.9491  TRx dataTimestamp_ set to:1761537810.296665 PDAT read: Bearing 66.1, 66.5 (Local)  ~Local bearing/azimuth received: Bearing 66.1, 66.5 (Local)  DAT read: Range 11 to 50 : 31.7 m (trip time 21.1 ms) speed 0.0  DAT read: 04:03:28.9491 LVL= 13360, 14577, 21234, 22899, AGC= 49, IDX= 506,-0.28, 2.382, 1.757, 0.600, 2.090, PHS= 0.395,-0.288,-1.534, RAW= 50.4, 16.6, CAL= 45.8, 19.9, ROT= 104.2, -19.9  Ygot valid direction response: 04:03:28.9491 LVL= 13360, 14577, 21234, 22899, AGC= 49, IDX= 506,-0.28, 2.382, 1.757, 0.600, 2.090, PHS= 0.395,-0.288,-1.534, RAW= 50.4, 16.6, CAL= 45.8, 19.9, ROT= 104.2, -19.9  T#Rx 93: Read range and direction messages. ^direction in FSK: [-0.230660,0.911558,0.340380] Fpublishing direction and range infoy  {M$AͿ7O{+?"T?Y A 04 8 R sY) 1I q=>i t ZĿ z0a? V> L? ӱ>) ?I ӱ |Ayj?m4#쿅XQD? h) 2I ?i ӱ 5 checking for new query: numPingsReceived=93, elapsed TxPingTime=45.640408^A ƒI I O >%%,hĻ?A|Mf,@M:@MҞ>ٱM4 -AHRS rotation from veh to nav: [[-0.965990,-0.217782,-0.139408],[0.221739,-0.975015,-0.013323],[-0.133023,-0.043782,0.990145]]MHcE˿ `a?R3@5I jE?iMf,@IMz^;MCYehxBymIIu<)u4=E EE.E"E*EL:VEـ4ZEBEM9aYa=m]Fyiu=Eu>yQ 5}4}T?Q 9}4}x)}PBY2=Q E ) = i= x9)9 = Z(9 i9 iA A E .IA II q ԙ  9%DDAT read: Rx Time:04:03:29.4490 -TRx dataTimestamp_ set to:1761537810.8007165PDAT read: Bearing 66.6, 65.5 (Local) 5~Local bearing/azimuth received: Bearing 66.6, 65.5 (Local) MDAT read: Range 11 to 50 : 31.5 m (trip time 21.0 ms) speed 0.0 DAT read: 04:03:29.4490 LVL= 13408, 15777, 22674, 25939, AGC= 50, IDX= 505,-0.12, 1.434, 0.838,-0.321, 1.177, PHS= 0.358,-0.294,-1.542, RAW= 49.7, 17.4, CAL= 45.2, 20.8, ROT= 104.8, -20.8 Ygot valid direction response: 04:03:29.4490 LVL= 13408, 15777, 22674, 25939, AGC= 50, IDX= 505,-0.12, 1.434, 0.838,-0.321, 1.177, PHS= 0.358,-0.294,-1.542, RAW= 49.7, 17.4, CAL= 45.2, 20.8, ROT= 104.8, -20.8 T#Rx 94: Read range and direction messages.^direction in FSK: [-0.238797,0.903811,0.355107]Fpublishing direction and range infoy)U9@q @q@uu2@q-0ο?_S{?Y-A)-`4-=-X -Se)-2I-K>i-+-B`ſ-^?-|>-I? -޹>)- ?I-޹))-X1|?#hsT}y? -h)-I- ?i-޹))5checking for new query: numPingsReceived=94, elapsed TxPingTime=46.189838D==D=R=bEҙT4jEd4rE0EE6 EE EE2EA"EEl;*EE:VEE4ZEAaU@aU@aU@aU@^AIIO&?/,nMĻ?ABn>BlBnEIBnwBBn =BlBlBn;Bn9Eb+@b|9@b >ٱbq6 AHRS rotation from veh to nav: [[-0.963000,-0.230526,-0.139600],[0.234430,-0.972059,-0.011969],[-0.132941,-0.044253,0.990136]]bHͿl@?@@@2 J1?ib+@Ib^;bCY5xBy5IbDVD:yQ*=%=ٔv$Q->9Y=]Fy˼E>Q 5}4 T?Q 9}4y)PBYy/?Q I?checking for new query: numPingsReceived=94, elapsed TxPingTime=46.373875Ļ?AJiARiAjiו@b]^RX<@#{8F&@R0ο?_S{?Zi ?bi޹j"A#k) Yi9)顽2iiIIi9A@A @A@E/@Aiߙ Iߙ  DDAT read: Rx Time:04:03:29.9491  TRx dataTimestamp_ set to:1761537811.304893 PDAT read: Bearing 69.3, 64.9 (Local)  ~Local bearing/azimuth received: Bearing 69.3, 64.9 (Local)  DAT read: Range 11 to 50 : 31.7 m (trip time 21.1 ms) speed 0.0  DAT read: 04:03:29.9491 LVL= 15184, 18641, 23538, 26323, AGC= 51, IDX= 506,-0.01,-2.599, 3.139, 1.943,-2.830, PHS= 0.332,-0.270,-1.554, RAW= 48.2, 17.5, CAL= 43.7, 20.8, ROT= 106.3, -20.8  Ygot valid direction response: 04:03:29.9491 LVL= 15184, 18641, 23538, 26323, AGC= 51, IDX= 506,-0.01,-2.599, 3.139, 1.943,-2.830, PHS= 0.332,-0.270,-1.554, RAW= 48.2, 17.5, CAL= 43.7, 20.8, ROT= 106.3, -20.8  T#Rx 95: Read range and direction messages. ^direction in FSK: [-0.262374,0.897251,0.355107] Fpublishing direction and range infoy  Weп|eF?_S{?Y A P; H [ f) 3I >i q= yƿ \W? a> @C? ) y?I @,?쿹6J? b) ƜI y?i Q ] checking for new query: numPingsReceived=95, elapsed TxPingTime=46.648476^A5 ͢Ii I O >96,Ļ?A`f+@h\9@$X>ٱ6 AHRS rotation from veh to nav: [[-0.961472,-0.236892,-0.139480],[0.240724,-0.970531,-0.011034],[-0.132756,-0.044185,0.990163]]H`wRοy? # m@k?if+@IS^;YxByIE- EE.E"Ed;*E:VEـ4ZEBE>9Y=]FyYE>Q 5}4R?Q 9}4)PBY=Q Eӿzn%=ܛu2%@Zeo5W%A,1?2ie:ie"ieQ8?*ie!Bie0Biep&?ie ieBieAie, @ addTargetRange:: Added new target pos. range: 31.700001 m, deltaT: 0.504177 s, deltaX: 0.200001 m, approachRate: 0.396688 m/s, rangeRepo size: 4 = Added new target pos. range: 31.561939 m, bearing: 269.400368 deg, lat: 36.779342 deg, lon: -121.859541 deg, deltaT: 0.504177 s, deltaX: 0.199129 m, approachRate: 0.394959 m/s, posRepo size: 4 mDNOT Ignoring new targets: 31.56 m.hihi*hq"hq hqgfffBddjd@3?@Zd?Z=Z=Z@Z`9?$X>) zi9)1=iiz½II 9 5 9A E DDAT read: Rx Time:04:03:30.4490 M TRx dataTimestamp_ set to:1761537811.809335] PDAT read: Bearing 71.7, 64.6 (Local) ] ~Local bearing/azimuth received: Bearing 71.7, 64.6 (Local) u DAT read: Range 11 to 50 : 31.5 m (trip time 21.0 ms) speed 0.0  DAT read: 04:03:30.4490 LVL= 13520, 15393, 21266, 24307, AGC= 50, IDX= 505, 0.09,-2.916, 2.862, 1.628,-3.131, PHS= 0.317,-0.245,-1.569, RAW= 46.9, 17.5, CAL= 42.4, 20.6, ROT= 107.6, -20.6  Ygot valid direction response: 04:03:30.4490 LVL= 13520, 15393, 21266, 24307, AGC= 50, IDX= 505, 0.09,-2.916, 2.862, 1.628,-3.131, PHS= 0.317,-0.245,-1.569, RAW= 46.9, 17.5, CAL= 42.4, 20.6, ROT= 107.6, -20.6  T#Rx 96: Read range and direction messages. ^direction in FSK: [-0.283036,0.892243,0.351842] Fpublishing direction and range infoyA E CҿӬA?\]㒄?YE AA E 4E !<E S E ^)E 2IE M>iE HzE ȿE Q?A E q=? E X>)E va?IE XA A E !"?4UB? E _)E IIE va?iE XA A  checking for new query: numPingsReceived=96, elapsed TxPingTime=47.150574 9@  @ @ 4@ @ =@ >q ԑ^A0IIO?]>,Ļ?ADzD@AE EE*E"EsH;*E :VE(N4ZEa"@a"@a&@a&@>*@>8@>I>ٱ>5 JAHRS rotation from veh to nav: [[-0.959876,-0.243295,-0.139452],[0.247041,-0.968954,-0.009948],[-0.132702,-0.044000,0.990179]]>HL@F$Ͽ` ?_a`?i>*@I>^;>CYNxByRI TTbDZVDZybA=%b1=ٔfQ-f>9dYd=M]FyIUVbEU>aBBBdIBwBB =BBB;B9EQ 5~4etQ?Q 9~4e)evPBYyc?Q I?eOeCIe"i`?*ip^BiBiW?i!iɑBi#Ai&@ԡ addTargetRange:: Added new target pos. range: 31.500000 m, deltaT: 0.504442 s, deltaX: -0.200001 m, approachRate: -0.396479 m/s, rangeRepo size: 4 checking for new query: numPingsReceived=96, elapsed TxPingTime=47.381897 Added new target pos. range: 31.362780 m, bearing: 270.338205 deg, lat: 36.779343 deg, lon: -121.859539 deg, deltaT: 0.504442 s, deltaX: -0.199160 m, approachRate: -0.394812 m/s, posRepo size: 4 DNOT Ignoring new targets: 31.36 m.hh*h"h hgf!f)f1d9dajdm?@Zdm`_?ZaZaZaZec?I>) i9)PGii  ,`ͽI I G  9 m Ț9i Ym A Ζ9 DDAT read: Rx Time:04:03:30.9490  TRx dataTimestamp_ set to:1761537812.313617 PDAT read: Bearing 74.5, 64.4 (Local)  ~Local bearing/azimuth received: Bearing 74.5, 64.4 (Local)  DAT read: Range 11 to 50 : 31.5 m (trip time 21.0 ms) speed 0.0  DAT read: 04:03:30.9490 LVL= 13552, 17121, 22898, 23731, AGC= 50, IDX= 505, 0.23,-2.635,-3.093, 1.923,-2.835, PHS= 0.302,-0.213,-1.569, RAW= 45.5, 17.4, CAL= 41.0, 20.2, ROT= 109.0, -20.2  Ygot valid direction response: 04:03:30.9490 LVL= 13552, 17121, 22898, 23731, AGC= 50, IDX= 505, 0.23,-2.635,-3.093, 1.923,-2.835, PHS= 0.302,-0.213,-1.569, RAW= 45.5, 17.4, CAL= 41.0, 20.2, ROT= 109.0, -20.2  T#Rx 97: Read range and direction messages.- ^direction in FSK: [-0.305543,0.887363,0.345298]- Fpublishing direction and range infoy  ӿ^=Fe?P]?Y 4 B rY \) I >i Z KK? |> 07? J>) "?I J 'R]F?*Np7_? ̊) I "?i J  checking for new query: numPingsReceived=97, elapsed TxPingTime=47.672199 @  @ @ 4@ ) YE E EE"E[I;*E:VEZEBEٱb̈́4 5AHRS rotation from veh to nav: [[-0.958288,-0.249655,-0.139128],[0.253293,-0.967350,-0.008797],[-0.132389,-0.043670,0.990235]]bHKϿ@5?`![?ibz*@Ib^;bCYuxByuI5checking for new query: numPingsReceived=97, elapsed TxPingTime=47.885822ԉiMb@Mb@Mb@ 9Q?+QYu=y1A!A )6AY)AbDVDNyU=%U=ٔeQ-m>9qYq=}]Fyy2E>YQ 5e~4]O?Q 9e~4]")]`PBYm=Q Em84;@|)ǵ%@Rӿ^=Fe?P]?Zi"?biJjX3N?ˍq=.܍%@Z: Ǘ? o?2i:iu:?"ix?*iBiBiQ8?ikiBiAi@ addTargetRange:: Added new target pos. range: 31.500000 m, deltaT: 0.504282 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 5 Added new target pos. range: 31.362780 m, bearing: 271.417043 deg, lat: 36.779345 deg, lon: -121.859538 deg, deltaT: 0.504282 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 =DNOT Ignoring new targets: 31.36 m.h9h9*h9"h9 h9gAfAfAfE BdIdIjdIZdM`?Z=Z=ZYǫ@ZO?Ա=>) i9)\Rii׽II!M9@ @@4@i I  DDAT read: Rx Time:04:03:31.4490  TRx dataTimestamp_ set to:1761537812.816923 PDAT read: Bearing 73.5, 64.0 (Local)  ~Local bearing/azimuth received: Bearing 73.5, 64.0 (Local)  DAT read: Range 11 to 50 : 31.5 m (trip time 21.0 ms) speed 0.0 - DAT read: 04:03:31.4490 LVL= 13664, 14433, 22610, 25571, AGC= 50, IDX= 505,-0.48, 0.419,-0.041,-1.302, 0.228, PHS= 0.293,-0.224,-1.574, RAW= 45.6, 17.7, CAL= 41.1, 20.6, ROT= 108.9, -20.6 5 Ygot valid direction response: 04:03:31.4490 LVL= 13664, 14433, 22610, 25571, AGC= 50, IDX= 505,-0.48, 0.419,-0.041,-1.302, 0.228, PHS= 0.293,-0.224,-1.574, RAW= 45.6, 17.7, CAL= 41.1, 20.6, ROT= 108.9, -20.6 = T#Rx 98: Read range and direction messages.E ^direction in FSK: [-0.303206,0.885592,0.351842]E Fpublishing direction and range infoy   LgӿìsV?\]㒄?Y `5 a8 RX c) I >i B`e xɿ %K? 2+> 7? X>) H?I X Z?VBxZ_F7]n? O) OI H?i X e checking for new query: numPingsReceived=98, elapsed TxPingTime=48.153893 ^A Gg̽I I9 OU >3,N,q;Ż?AF)@F 7@F>ٱFi4 ^AHRS rotation from veh to nav: [[-0.955135,-0.261827,-0.138436],[0.265349,-0.964125,-0.007297],[-0.131559,-0.043704,0.990345]]FHvп Dy?`}S` ?iF)@IF^;DYbxByfIbDnVDnNyv=%vd=ٔzQ-z>9|Y|=~]Fy|E>Q 5~4N?Q 9~4Y)UPBYy?Q I?geCI;i;-~4y!ɮ%35A!iiwH4Ż?AJiRiji@b#pYN;@@u&@R LgӿìsV?\]㒄?ZiH?biXjs?Rp|a=/}E%@ZAz?0ZW`?2i:i>"if?*i,BiiBi`?ip^iBiAi@u addTargetRange:: Added new target pos. range: 31.500000 m, deltaT: 0.503306 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 31.362780 m, bearing: 270.551838 deg, lat: 36.779350 deg, lon: -121.859537 deg, deltaT: 0.503306 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 31.36 m.hh*h"h hgfffddjdZd?E EE+E"EV;*E :VE [4ZEa@a@a@a@ZZZZ6?>) i9)lZiiII9IfA)BBBIBxBB =BBDB;B9EUchecking for new query: numPingsReceived=98, elapsed TxPingTime=48.391735e9@i @i@m/@q!^AezҽIIOC>Ai  DDAT read: Rx Time:04:03:31.9491  TRx dataTimestamp_ set to:1761537813.320667 PDAT read: Bearing 73.2, 63.4 (Local)  ~Local bearing/azimuth received: Bearing 73.2, 63.4 (Local) = DAT read: Range 11 to 50 : 31.7 m (trip time 21.1 ms) speed -0.1 U,2UŻ?A:DAT read: 04:03:31.9491 LVL= 14816, 16753, 23186, 25843, AGC= 50, IDX= 506,-0.13, 1.204, 0.754,-0.514, 1.032, PHS= 0.274,-0.233,-1.591, RAW= 45.2, 18.2, CAL= 40.9, 21.2, ROT= 109.1, -21.2 v^\)@vQ7@v{>ٱv5Ygot valid direction response: 04:03:31.9491 LVL= 14816, 16753, 23186, 25843, AGC= 50, IDX= 506,-0.13, 1.204, 0.754,-0.514, 1.032, PHS= 0.274,-0.233,-1.591, RAW= 45.2, 18.2, CAL= 40.9, 21.2, ROT= 109.1, -21.2 %T#Rx 99: Read range and direction messages.-^direction in FSK: [-0.305073,0.880998,0.361625]-Fpublishing direction and range infoy15lڼPӿ"׹}#1?t>i$?Y5A1595qA5Z 5d)1I5I>i5n5˿5I? EAHRS rotation from veh to nav: [[-0.953539,-0.267821,-0.137970],[0.271320,-0.962465,-0.006856],[-0.130955,-0.043972,0.990413]]vHd`#ѿ N]?|xv?iv^\)@Iv^;t5>536? 5q>)5S?I5q115e? UBa? 5Z)52RI5S?i5q11checking for new query: numPingsReceived=99, elapsed TxPingTime=48.702724Y3yByAI@AbDVDy >%<=Qٔ]Q-]>9aYi=]Fyb^E>9Q 5~4=~M?Q 9~4=5)=DPBYyT?Q I?=seCI=!~4y ɮ=4AE EEE"EP;*Ex:VEZEBEi$?Zi5S?bi5qj5Л m?|s=AtO&@Z5<]t?g 2?2i5:i5h#>"i50oZ?*i5Bi5IBi1i5i50Bi5%Ai5$ @] addTargetRange:: Added new target pos. range: 31.700001 m, deltaT: 0.503744 s, deltaX: 0.200001 m, approachRate: 0.397029 m/s, rangeRepo size: 4 ԁ Added new target pos. range: 31.561979 m, bearing: 270.310428 deg, lat: 36.779350 deg, lon: -121.859536 deg, deltaT: 0.503744 s, deltaX: 0.199200 m, approachRate: 0.395438 m/s, posRepo size: 4 DNOT Ignoring new targets: 31.56 m.hh*h"h hgfff!d!d)jd-@3?@Zd5=?ZqZqZqZuT?{>)  i9)顽iiaII}DDAT read: Rx Time:04:03:32.4490 TRx dataTimestamp_ set to:1761537813.576394checking for new query: numPingsReceived=99, elapsed TxPingTime=48.9006169ԱM 9@I  @I @M /@I ^A5 ֽI9 IQ O] >.[,@4qŻ?A2](@26@2 >ٱ2?!7 :AHRS rotation from veh to nav: [[-0.951971,-0.273615,-0.137424],[0.277103,-0.960818,-0.006548],[-0.130248,-0.044314,0.990491]]2Hvѿ ?@zL?i2](@I2O^;2CYBKyByBOIi Mb@Mb@Mb@     9 {Gz?J +QY ף=y Ƚ    A A) f4A Y (AbDeVDe2yuoa=%}A=ٔ}7ݺQ-}>9yY=]FyxE>Q 5~4 L?Q 9~4)6PBY">Q E;yr?Q I?eCI:i:K~4yɮ3APDAT read: Bearing 77.5, 63.3 (Local) ~Local bearing/azimuth received: Bearing 77.5, 63.3 (Local) DAT read: Range 11 to 50 : 31.5 m (trip time 21.0 ms) speed 0.0 DAT read: 04:03:32.4490 LVL= 13072, 15393, 22514, 23939, AGC= 51, IDX= 505, 0.17, 1.437, 1.051,-0.280, 1.272, PHS= 0.267,-0.176,-1.596, RAW= 43.2, 17.5, CAL= 38.9, 20.2, ROT= 111.1, -20.2 Ygot valid direction response: 04:03:32.4490 LVL= 13072, 15393, 22514, 23939, AGC= 51, IDX= 505, 0.17, 1.437, 1.051,-0.280, 1.272, PHS= 0.267,-0.176,-1.596, RAW= 43.2, 17.5, CAL= 38.9, 20.2, ROT= 111.1, -20.2 V#Rx 100: Read range and direction messages.^direction in FSK: [-0.337854,0.875570,0.345298]Fpublishing direction and range infoyIxhտw)?P]?YA3!<W ])3I9>iX94I̿A?a>-? J>)%3?IJBX?:gC? h)-I%3?iJ%checking for new query: numPingsReceived=100, elapsed TxPingTime=49.160065))iitŻ?AJiARiAjiC@b V11%bu;@J鸨%@RIxhտw)?P]?Zi%3?biJjNڕ]?;d=>Ѷ%@Z!kG淡?pQ2l8?2i!:i?"iw?*iBimBif?iiiBiAi#@} addTargetRange:: Added new target pos. range: 31.500000 m, deltaT: 0.502816 s, deltaX: -0.200001 m, approachRate: -0.397761 m/s, rangeRepo size: 4  Added new target pos. range: 31.362848 m, bearing: 272.114813 deg, lat: 36.779350 deg, lon: -121.859536 deg, deltaT: 0.502816 s, deltaX: -0.199131 m, approachRate: -0.396032 m/s, posRepo size: 4 DNOT Ignoring new targets: 31.36 m.hh*h"h hgfff%Bddjd%?@Zd% a?Z">Z">ZF@Z r? >) i9)顝iicIIQm9@q @q@q@qDzD?AE, E9E-E"Ec;*E ;VEt4ZEa@a@a@a@^AUIYIO}>B>B.CBIBGxBB =BBBރ;B9EBBBBǸ =BǸ =C05ԁ} DDAT read: Rx Time:04:03:32.9492  TRx dataTimestamp_ set to:1761537814.079607 checking for new query: numPingsReceived=100, elapsed TxPingTime=49.403721ԩ b,8Ż?A2*(@2Ȓ6@20>ٱ2C7 :AHRS rotation from veh to nav: [[-0.950532,-0.279059,-0.136433],[0.282496,-0.959249,-0.006113],[-0.129167,-0.044353,0.990631]]2Hj`ѿvj?+m y@`f>?i2*(@I2^;2CYn`yByn\IbDzVDz1y@Y=%Q=ٔ%6Q-%>9!Y)=-]Fy)-kE->1Q 5=~45J?Q 9=~45)5(PBYAyE?Q IE?5eCI5H;i5;5Y~4yIɮM3AI}DNOT Ignoring new targets: 31.36 m.hyhy*h"h hgfffddjdZd`0?ZZZZ?0>) i9)iiIIԑ09x>i)>9@ @@0@@=@=PDAT read: Bearing 76.1, 62.5 (Local) ~Local bearing/azimuth received: Bearing 76.1, 62.5 (Local) DAT read: Range 11 to 50 : 31.8 m (trip time 21.2 ms) speed -0.1 DAT read: 04:03:32.9492 LVL= 13952, 13841, 23506, 24995, AGC= 50, IDX= 507,-0.18,-0.345,-0.718,-2.010,-0.481, PHS= 0.238,-0.192,-1.573, RAW= 43.1, 18.2, CAL= 38.9, 21.1, ROT= 111.1, -21.1 %Ygot valid direction response: 04:03:32.9492 LVL= 13952, 13841, 23506, 24995, AGC= 50, IDX= 507,-0.18,-0.345,-0.718,-2.010,-0.481, PHS= 0.238,-0.192,-1.573, RAW= 43.1, 18.2, CAL= 38.9, 21.1, ROT= 111.1, -21.1 -V#Rx 101: Read range and direction messages.5^direction in FSK: [-0.335860,0.870402,0.359997]5Fpublishing direction and range infoy15~տ#U?z0 ?YfA66[ a)2IFs>iDXɿ@?> )>)I)(۟? ʕ--<? )MIi)]checking for new query: numPingsReceived=101, elapsed TxPingTime=49.667721^AYII OU >E + E E .E "E b;*E :VE ـ4ZE BE 9Y=]FyE>Q 5~4fI?Q 9~4)PBY|!>Q E;y?Q I?eCIK;i_3;vj~4yɮ(3AiifŻ?AJiKARiKAji9@b`izӏD%D\&;@uh&@R15~տ#U?z0 ?Zibi)j,y?ũT=cO&@Zv`? 532!?2i:i\?"ix?*iBiBix?i,imBiAi'@= addTargetRange:: Added new target pos. range: 31.799999 m, deltaT: 0.503934 s, deltaX: 0.299999 m, approachRate: 0.595315 m/s, rangeRepo size: 4 U Added new target pos. range: 31.661705 m, bearing: 271.673913 deg, lat: 36.779354 deg, lon: -121.859535 deg, deltaT: 0.503934 s, deltaX: 0.298857 m, approachRate: 0.593047 m/s, posRepo size: 4 ]DNOT Ignoring new targets: 31.66 m.hYhY*hY"ha hagafafifm-Bdidqjdu?@Zdu@ B?Z|!>Z|!>Z@Z?A)A EiM9)IMֵIiIiQQU_IQIyU9DAT read: Range 11 to 50 : 31.8 m (trip time 21.2 ms) speed -0.2 9@ @@/@EDAT read: 04:03:33.4492 LVL= 13440, 14913, 21714, 22691, AGC= 51, IDX= 506, 0.33, 0.107,-0.215,-1.565,-0.016, PHS= 0.225,-0.154,-1.593, RAW= 41.4, 17.9, CAL= 37.4, 20.8, ROT= 112.6, -20.8 Ygot valid direction response: 04:03:33.4492 LVL= 13440, 14913, 21714, 22691, AGC= 51, IDX= 506, 0.33, 0.107,-0.215,-1.565,-0.016, PHS= 0.225,-0.154,-1.593, RAW= 41.4, 17.9, CAL= 37.4, 20.8, ROT= 112.6, -20.8 V#Rx 102: Read range and direction messages.^direction in FSK: [-0.359249,0.863041,0.355107]Fpublishing direction and range infoyqֿa?_S{?Y4A:T X)3Ifff>i-m˿8?>'? ޹>)?I޹>đ!?C9 xBи? ɚ)bI?i޹checking for new query: numPingsReceived=102, elapsed TxPingTime=50.188339A ^A- I9 IQ O] >n,˾Ż?A2'@25@2?>ٱ2^1 >AHRS rotation from veh to nav: [[-0.947422,-0.290637,-0.133869],[0.293768,-0.955869,-0.003814],[-0.126853,-0.042940,0.990992]]2HHQ@͙ҿ"@?@{Z?o@<B 4?i2'@I2=^;2CYFyBDJ=DJ) H it9)%iiIIi= b9ԙ  DAT read: 04:03:33.9493 LVL= 13904, 15041, 19266, 24307, AGC= 50, IDX= 508, 0.08, 0.434, 0.137,-1.215, 0.341, PHS= 0.196,-0.158,-1.600, RAW= 40.7, 18.5, CAL= 36.8, 21.5, ROT= 113.2, -21.5  Ygot valid direction response: 04:03:33.9493 LVL= 13904, 15041, 19266, 24307, AGC= 50, IDX= 508, 0.08, 0.434, 0.137,-1.215, 0.341, PHS= 0.196,-0.158,-1.600, RAW= 40.7, 18.5, CAL= 36.8, 21.5, ROT= 113.2, -21.5  \#Rx 104: Read direction message, but no range. ^direction in FSK: [-0.366530,0.855180,0.366501]y  8i ! ̿ o5? MQ> l$? 7 >) '?I 7 zv?P ¿{wV? ) I '?i 7 % checking for new query: numPingsReceived=104, elapsed TxPingTime=50.667236% 9@!  @) @- /@) @1 @1 ^AIAIaO?w,Ż?A$Y]yBy]|IIe<)eEm EmEm)Ei"EmM;*Emj:VEmFA4ZEiBEm<2Em<JEmL<:EmL9QYQ=]]FyYmEm>Q 5~4 G?Q 9~4K)OBYU)>Q E;y?Q I?eCIP;DDAT read: Rx Time:04:03:34.4493 TRx dataTimestamp_ set to:1761537815.592097a}PDAT read: Bearing 79.1, 60.3 (Local) ~Local bearing/azimuth received: Bearing 79.1, 60.3 (Local) DAT read: Range 11 to 50 : 32.0 m (trip time 21.3 ms) speed -0.2 \#Rx 105: Read range message, but no direction.yYchecking for new query: numPingsReceived=105, elapsed TxPingTime=50.946003i;`~4y ɮ 2A iiŻ?AJiARiAjit@bB ['q*?;@ںZ'@R8ZU)>Ze@Z?a)a e im9)iԑmN8iiTIIԹ iy Iy  DAT read: 04:03:34.4493 LVL= 14384, 15649, 21394, 26435, AGC= 50, IDX= 508,-0.09,-2.235,-2.493, 2.445,-2.296, PHS= 0.162,-0.152,-1.587, RAW= 39.7, 19.0, CAL= 36.0, 22.1, ROT= 114.0, -22.1  Ygot valid direction response: 04:03:34.4493 LVL= 14384, 15649, 21394, 26435, AGC= 50, IDX= 508,-0.09,-2.235,-2.493, 2.445,-2.296, PHS= 0.162,-0.152,-1.587, RAW= 39.7, 19.0, CAL= 36.0, 22.1, ROT= 114.0, -22.1  \#Rx 106: Read direction message, but no range. ^direction in FSK: [-0.376853,0.846426,0.376224]yy } ;\ؿ?*?y } 08} !=} S } Cg)y I} T%>i} } "˿} a1?} ɩ>} | ? } |>)} ?I} |žy } j ?8_?=_T ~? } 4h)} 1I} ?i} |ž checking for new query: numPingsReceived=106, elapsed TxPingTime=51.174522E p9I % 9@!  @! @- /@) ^A WI IOE>;~,Ż?A6p!'@65@6=ٱ6S2/ >AHRS rotation from veh to nav: [[-0.944351,-0.301691,-0.131086],[0.304649,-0.952461,-0.002641],[-0.124058,-0.042429,0.991367]]6H8Nӿo\?zve@B¿ I@H?i6p!'@I6^;6CYFyByFIbDRVDRNyZ=%ZC=ٔ^ܻQ-^>9\Y\=^]Fy\bMEb>dQ 5j~4fE?Q 9j~4f)fOBYhyn?Q In?feCIf;if;f~4yrBɮr%2Ar_EDNOT Ignoring new targets: 31.86 m.hh!*h!"h! h!g)f)f1f1d9dAjdAZdM@z?DQzDU@AZ!Z!Z!Z%Z?B)A)B5>B5-CB5IB5xBB1B1B1B5;B5:EbE|a4jErE+/Em' Em)Em,Ei"Em _;*Em0;VEmg4ZEiBEm<2Em<JEm\<:Em\<=)  iD9)页XiiIIDDAT read: Rx Time:04:03:34.9494 TRx dataTimestamp_ set to:1761537816.096353-PDAT read: Bearing 80.2, 59.4 (Local) 5~Local bearing/azimuth received: Bearing 80.2, 59.4 (Local) UDAT read: Range 11 to 50 : 32.1 m (trip time 21.4 ms) speed -0.2 \#Rx 107: Read range message, but no direction.y Y fB =checking for new query: numPingsReceived=107, elapsed TxPingTime=51.452549u9@y @y@}0@y!^A +I I O >Q  DAT read: 04:03:34.9494 LVL= 15584, 15505, 22178, 25459, AGC= 51, IDX= 509,-0.27,-2.400,-2.613, 2.305,-2.432, PHS= 0.134,-0.136,-1.591, RAW= 38.3, 19.3, CAL= 34.8, 22.4, ROT= 115.2, -22.4  Ygot valid direction response: 04:03:34.9494 LVL= 15584, 15505, 22178, 25459, AGC= 51, IDX= 509,-0.27,-2.400,-2.613, 2.305,-2.432, PHS= 0.134,-0.136,-1.591, RAW= 38.3, 19.3, CAL= 34.8, 22.4, ROT= 115.2, -22.4  \#Rx 108: Read direction message, but no range. ^direction in FSK: [-0.393652,0.836554,0.381070]y  1ٿ,ߎ ?tc? < < V sc) 3I L7 >i C ˿ D +? iw> |? +>) @I +Ⱦ )ВQ?%Fh!*? B_) QI @i +Ⱦ checking for new query: numPingsReceived=108, elapsed TxPingTime=51.675400,o~ƻ?A2&@24@2=ٱ20 :AHRS rotation from veh to nav: [[-0.942766,-0.307129,-0.129860],[0.310084,-0.950705,-0.002682],[-0.122635,-0.042795,0.991529]]2H$+ӿ<k?-led@J饿?i2&@I2^;2CY]yBy]IbDmVDmky}!=%}?=ٔb[Q->9Y=]FyZE>Q 5~4D?Q 9~4)OBYy?Q I?eCI;is;~4yɮ1A1iAiE*ƻ?AJiEARiEAjiE @bE|r))Cz:@'M[(@RE1ٿ,ߎ ?tc?ZiE@biE+ȾjEɥOa@Ⱥ=Z=!(@ZEr?Zc?2iE:iE[@"iE'@?*iEF3BiE͕BiE5?iE&iEBiEAiEF@m addTargetRange:: Added new target pos. range: 32.099998 m, deltaT: 0.504256 s, deltaX: 0.099998 m, approachRate: 0.198309 m/s, rangeRepo size: 4  Added new target pos. range: 31.960344 m, bearing: 274.030165 deg, lat: 36.779359 deg, lon: -121.859534 deg, deltaT: 0.504256 s, deltaX: 0.099501 m, approachRate: 0.197322 m/s, posRepo size: 4 DNOT Ignoring new targets: 31.96 m.hh*h"h hgff f d d jd5 @@Zd={?ZZZZh?U=)Q U iU9)Y]YiYEe% EeBEe-Ea"EeO];*EeZ;VEet4ZEaBEe<2Ee<JEes<:Eesv,$F4ƻ?ADAT read: 04:03:35.4494 LVL= 16960, 17521, 25010, 25459, AGC= 52, IDX= 509,-0.49, 3.080, 2.908, 1.511, 3.072, PHS= 0.110,-0.119,-1.604, RAW= 37.1, 19.5, CAL= 33.7, 22.6, ROT= 116.3, -22.6 Ygot valid direction response: 04:03:35.4494 LVL= 16960, 17521, 25010, 25459, AGC= 52, IDX= 509,-0.49, 3.080, 2.908, 1.511, 3.072, PHS= 0.110,-0.119,-1.604, RAW= 37.1, 19.5, CAL= 33.7, 22.6, ROT= 116.3, -22.6 \#Rx 110: Read direction message, but no range.%^direction in FSK: [-0.409048,0.827645,0.384295]yxzX-ڿlE(|?cK?xz@BzqDza x)z4IzG=izFzOͿz%?z@>z? z>)z@Izɾxz ?:l#f}Y? zE)zIz@izɾEchecking for new query: numPingsReceived=110, elapsed TxPingTime=52.179211AYy iMMb@Mb@Mb@IIII I9M{Gz? rhYMף=yMC MLM.AMA MA)M2AIYM3'AbDVDNٔQ->9Y=]FyE>Q 5~4C?Q 9~4)OBY})>Q E;y_?Q I?eCI;i ;~4yɮiiq&ƻ?AJiRiji5@b67h%*;s:@}(@RX-ڿlE(|?cK?Zi@biɾjpw@h(<=e|L)@ZE,ߴ?؇[EۯsT?2i:i&@"ij)?*i*ڮBi&BiX̝?i&iBi3Ai@% addTargetRange:: Added new target pos. range: 32.099998 m, deltaT: 0.504301 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 5 Added new target pos. range: 31.960344 m, bearing: 275.093938 deg, lat: 36.779361 deg, lon: -121.859533 deg, deltaT: 0.504301 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 5DNOT Ignoring new targets: 31.96 m.h1h1*h9"h9 h9g9f9fAfE'BdAdAjdIZdM?YZm})>Zm})>Zmϧ@ZmF_?)! % i%9)!%!i!i))-nI)IQB>BBIBxBB =BBBW;BP:EE3 EE)E"Ej;*EA:VEFA4ZEBE<2E<JEI<:EI<ԉDDAT read: Rx Time:04:03:35.9495 TRx dataTimestamp_ set to:1761537817.104026PDAT read: Bearing 84.2, 58.5 (Local) ~Local bearing/azimuth received: Bearing 84.2, 58.5 (Local) E 9 DAT read: Range 11 to 50 : 32.3 m (trip time 21.5 ms) speed -0.2  DAT read: 04:03:35.9495 LVL= 17008, 16689, 23922, 25747, AGC= 52, IDX= 510, 0.29,-0.067,-0.191,-1.638,-0.079, PHS= 0.114,-0.067,-1.602, RAW= 35.5, 18.6, CAL= 32.2, 21.5, ROT= 117.8, -21.5  Ygot valid direction response: 04:03:35.9495 LVL= 17008, 16689, 23922, 25747, AGC= 52, IDX= 510, 0.29,-0.067,-0.191,-1.638,-0.079, PHS= 0.114,-0.067,-1.602, RAW= 35.5, 18.6, CAL= 32.2, 21.5, ROT= 117.8, -21.5  V#Rx 111: Read range and direction messages.% ^direction in FSK: [-0.433934,0.823030,0.366501]% Fpublishing direction and range infoyzpۿ,ZBV?ѨCt?Y3BpB1Ar] d)Ix=iL7VͿ?6>? 7 >)x@I7 SI?//Vbek? )?DIx@i7 m checking for new query: numPingsReceived=111, elapsed TxPingTime=52.479702Թ 9@  @ @ /@ U g>Q /9YA^AuBIIO?Q,PVUƻ?AB%@B3@B"=ٱB3Jchecking for new query: numPingsReceived=111, elapsed TxPingTime=52.673870 RAHRS rotation from veh to nav: [[-0.937386,-0.324831,-0.125664],[0.327710,-0.944776,-0.002372],[-0.117954,-0.043405,0.992070]]BH@Կ1?;nc72@ 9 ?iB%@IB)^;BCYZyByZIbDbVDbβyjC<%j<ٔn5Q-n>9lYl=r]Fypr2Er>IiQ 5u~4mB?Q 9u~4m)mOBYqyu,?Q I}?m fCIm:imF:mN~4yɮy1Aii]Fƻ?AJiBRiBji@b_)k+d.)w:@dC'@Rzpۿ,ZBV?ѨCt?Zix@bi7 j>@$=)da(@ZN?IukTsB?2i:i(@@"ibA??*i0SBiHBi'@?i0SiHBisAi @  addTargetRange:: Added new target pos. range: 32.299999 m, deltaT: 0.503372 s, deltaX: 0.200001 m, approachRate: 0.397322 m/s, rangeRepo size: 4  Added new target pos. range: 32.159439 m, bearing: 275.790522 deg, lat: 36.779365 deg, lon: -121.859531 deg, deltaT: 0.503372 s, deltaX: 0.199095 m, approachRate: 0.395522 m/s, posRepo size: 4 %DNOT Ignoring new targets: 32.16 m.h!h!*h!"h! h)g)f)f)f)d1d1jd5`f&@@Zd5I?ZQZQZQZU,?m"=)i mim9)iuqiqiqy}ey-IyIyyE=8 E=%E=*E9"E=n;*E=;VE=(N4ZE9BE=ܾ<2E=ݾ<JE=BY<:E=CY<9ԩeDDAT read: Rx Time:04:03:36.4495 mTRx dataTimestamp_ set to:1761537817.608395PDAT read: Bearing 85.5, 58.3 (Local) ~Local bearing/azimuth received: Bearing 85.5, 58.3 (Local) 9@ @@0@DAT read: Range 11 to 50 : 32.3 m (trip time 21.5 ms) speed -0.2  \#Rx 112: Read range message, but no direction.yiYii checking for new query: numPingsReceived=112, elapsed TxPingTime=52.951679 ^A] <Ii Iy O >^ڛ,qƻ?A2'%@2T3@2=ٱ2Sz18 >AHRS rotation from veh to nav: [[-0.935383,-0.331186,-0.123996],[0.333964,-0.942584,-0.001723],[-0.116306,-0.043022,0.992281]]2H@$2տ0_?);\7ƽ?i2'%@I2×^;2CYFyByFIiMMb@Mb@Mb@IIII I9MMbX9?MbQYMʡ=yMMuM-AI MEA)MQ0AIYM%AbDeVDe:yuƁ%u0=ٔ}zjQ-}>9yYy=]FyiE>Q 5~4A?Q 9~44)OBY%>Q E;y?Q I?fCI:i*:~4yɮ1A addTargetRange:: Added new target pos. range: 32.299999 m, deltaT: 0.504369 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 32.16 m.hh*h"h hgfffBddjdZd?Z%>Z%>Z}@Z?%=)! -zi-9))-)i)i115f1I1I9 EfAEfADAT read: 04:03:36.4495 LVL= 17072, 17649, 25378, 26883, AGC= 52, IDX= 510, 0.12,-0.976,-1.071,-2.542,-0.984, PHS= 0.110,-0.042,-1.602, RAW= 34.6, 18.3, CAL= 31.4, 21.1, ROT= 118.6, -21.1 Ygot valid direction response: 04:03:36.4495 LVL= 17072, 17649, 25378, 26883, AGC= 52, IDX= 510, 0.12,-0.976,-1.071,-2.542,-0.984, PHS= 0.110,-0.042,-1.602, RAW= 34.6, 18.3, CAL= 31.4, 21.1, ROT= 118.6, -21.1 \#Rx 113: Read direction message, but no range.^direction in FSK: [-0.446597,0.819117,0.359997]yim6 ܿ;56?z0 ?imBmDm"c mi)iImG=im1,im#?mƇ>mK ? m)>)m;z@Im)imF~?FFI=G? mȾ)m*gIm;z@im)5checking for new query: numPingsReceived=113, elapsed TxPingTime=53.203445=9E>iE>ԡ9@ @@4@@@^AWyIIO?>E. EE+E"Eye;*E:VE [4ZEa @a @a @a @B->B)B-&IB-yBB- =B)B)B-m;B-e:E E DDAT read: Rx Time:04:03:36.9497 M TRx dataTimestamp_ set to:1761537818.112823m PDAT read: Bearing 70.4, 56.7 (Local) u ~Local bearing/azimuth received: Bearing 70.4, 56.7 (Local)  DAT read: Range 11 to 50 : 32.6 m (trip time 21.7 ms) speed -0.1 5 DAT read: 04:03:36.9497 LVL= 17728, 18801, 27346, 27235, AGC= 52, IDX= 512,-0.05, 2.947, 2.585, 0.993, 2.982, PHS= 0.068,-0.352,-2.032, RAW= 40.9, 23.1, CAL= 37.3, 27.1, ROT= 112.7, -27.1 = Ygot valid direction response: 04:03:36.9497 LVL= 17728, 18801, 27346, 27235, AGC= 52, IDX= 512,-0.05, 2.947, 2.585, 0.993, 2.982, PHS= 0.068,-0.352,-2.032, RAW= 40.9, 23.1, CAL= 37.3, 27.1, ROT= 112.7, -27.1 = V#Rx 114: Read range and direction messages.E ^direction in FSK: [-0.343538,0.821255,0.455545]E Fpublishing direction and range infoyA E .YտvWG?Х'?YE fBA E @EE qIE j E cj)A IE C=iE X9E J E 36?E pl>E r&? E *>)E 3?IE *A A E GfkQB?ب8UT1? E ѹ)E n;IE 3?iE *A A  checking for new query: numPingsReceived=114, elapsed TxPingTime=53.4756242,xƻ?A2@$@2ޥ2@2=ٱ2k0 :AHRS rotation from veh to nav: [[-0.933067,-0.338134,-0.122684],[0.340827,-0.940125,-0.001027],[-0.114991,-0.042773,0.992445]]2Hտ6h?P pG楿?i2@$@I2^;2CYNyByRIIV=)V<bDZVDZyf<%fW=ٔfdQ-f>9hYh=j]FyhnEn>lQ 5 ~4@?Q 9 ~4)hOBYy?Q I?+fCI:i1:h~4yɮi1Aii~8ƻ?AJiBRiBjiS@btM& :@-@R.YտvWG?Х'?Zi3?bi*j)]ͻۿAo:,Ĵƻ?ADDAT read: Rx Time:04:03:37.4497 "TRx dataTimestamp_ set to:1761537818.612337&DAT read: Range 11 to 50 : 32.6 m (trip time 21.7 ms) speed -0.1 &\#Rx 115: Read range message, but no direction.yY*checking for new query: numPingsReceived=115, elapsed TxPingTime=53.937325HU<$@UW22@U=ٱU1 eAHRS rotation from veh to nav: [[-0.930799,-0.344768,-0.121444],[0.347457,-0.937695,-0.001033],[-0.113521,-0.043159,0.992598]]UH`ֿ`9Y=]FykE>Q 5~4@?Q 9~4A)IOBY>Q E;y?Q I?9fCIOJ;iBI;b~4yɮ1AU addTargetRange:: Added new target pos. range: 32.599998 m, deltaT: 0.499514 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 UDNOT Ignoring new targets: 32.46 m.hYhY*hY"hY hagafafifm׀BdidqjdqZdu?ԹZ>Z>Z!@Z4?M=)I MiM9)IU׶QiQiQ<=IIchecking for new query: numPingsReceived=115, elapsed TxPingTime=54.185707] ҟ9 9@  @ @ R0@ ^A 8I I! O5 >,Sƻ?AN#@Nl1@NH=ٱN4 ^AHRS rotation from veh to nav: [[-0.928284,-0.351818,-0.120472],[0.354541,-0.935040,-0.001249],[-0.112207,-0.043872,0.992716]]NH`/ֿ C׾ʰ?DvT`Vv T?iN#@IN^;NCYfyByfIE* EE*E"Ea;*E:VE(N4ZEa@a@a@a@bD5VD5yEޠ;%Eh=ٔEvBQBQBU2IBUyBBU =BQBUDBU{;BUr:EBBBBB =C^6Q-M>9qYq=u]Fyq}E}>Q 54@?Q 94/)2OBYy?Q I?DfCI;i;4yɮ1A-DNOT Ignoring new targets: 32.46 m.h)h1*h1"h1 h9g9fAfQfQdYdjdZdg ? ^ ?)?I^ Z Z Z Z ?9EH=)A EiE9)IM綉IiIiQQUCIQjNL ǎ? ) }3? t)f۾I?i^ echecking for new query: numPingsReceived=116, elapsed TxPingTime=54.470139IyIQ?)M?QY9@ @@/@iԑ ^A 8I  checking for new query: numPingsReceived=116, elapsed TxPingTime=54.689850I O% >@6, ƻ?A@2G#@2=1@2z=ٱ2|f9 :AHRS rotation from veh to nav: [[-0.925784,-0.358628,-0.119626],[0.361432,-0.932397,-0.001871],[-0.110868,-0.044969,0.992817]]2Hֿӟ!?@1^a8(?i2G#@I2-^;2CYByByBI J49XYX=Z]FyX^E^>`Q 5f4bb@?Q 9f4b )bOBYdyf?Q If?bOfCIb`:ibl:b4ylɮnF1Aliicƻ?AJi:BRi:BjiM@bxqF',a:@x/@R ֿ,u}W?%)?Zi?bi^ jxXܿЇ ~ 5`,lƻ?A2Z"@20@2?=ٱ2s< :AHRS rotation from veh to nav: [[-0.923099,-0.365724,-0.118885],[0.368565,-0.929600,-0.002056],[-0.109763,-0.045715,0.992906]]2H`h׿*Q-m>9iYi=u]FyquɒEu>yQ 54}\@?Q 94})}NBYu=Q E;y?Q I?}XfCI}:i}s:}4yɮb1A addTargetRange:: Added new target pos. range: 32.700001 m, deltaT: 0.500899 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 32.56 m.hh*h"h hgDAT read: 04:03:38.4498 LVL= 15840, 15121, 25586, 26035, AGC= 51, IDX= 513,-0.37, 2.806, 2.735, 0.957, 2.804, PHS= 0.104,-0.024,-1.891, RAW= 33.3, 18.3, CAL= 30.3, 21.1, ROT= 119.7, -21.1  Ygot valid direction response: 04:03:38.4498 LVL= 15840, 15121, 25586, 26035, AGC= 51, IDX= 513,-0.37, 2.806, 2.735, 0.957, 2.804, PHS= 0.104,-0.024,-1.891, RAW= 33.3, 18.3, CAL= 30.3, 21.1, ROT= 119.7, -21.1  \#Rx 118: Read direction message, but no range.^direction in FSK: [-0.462240,0.810393,0.359997]y,d>bVݿ0?z0 ?=;c e)I=iļJ ,?Ƈ>a? )>)ȴ@I) I`۫?^+T? ո)pIȴ@i)5checking for new query: numPingsReceived=118, elapsed TxPingTime=55.204449ff9f=Bd9d9jdAZdE`?Zeu=Zeu=Ze̥@Ze?u?=)y }i}j9)y}yiyi*OII!DzDAAE%/ E%XE%.E!"E%af;*E%;VE%ـ4ZE!a-@a-@a-@a-@1Be<AaBiBiBiBiBm =BiBiBmu;Bmk:EQ9@ @@@ DDAT read: Rx Time:04:03:38.9499  TRx dataTimestamp_ set to:1761537820.128333 PDAT read: Bearing 87.0, 56.2 (Local)  ~Local bearing/azimuth received: Bearing 87.0, 56.2 (Local)  DAT read: Range 11 to 50 : 32.9 m (trip time 21.9 ms) speed 0.0  DAT read: 04:03:38.9499 LVL= 15344, 14161, 21618, 19539, AGC= 53, IDX= 2,-0.08, 0.426, 0.436,-1.108, 0.458, PHS= 0.070, 0.023,-1.611, RAW= 31.4, 17.9, CAL= 28.6, 20.8, ROT= 121.4, -20.8 M Ygot valid direction response: 04:03:38.9499 LVL= 15344, 14161, 21618, 19539, AGC= 53, IDX= 2,-0.08, 0.426, 0.436,-1.108, 0.458, PHS= 0.070, 0.023,-1.611, RAW= 31.4, 17.9, CAL= 28.6, 20.8, ROT= 121.4, -20.8 M V#Rx 119: Read range and direction messages.U ^direction in FSK: [-0.487053,0.797921,0.355107]U Fpublishing direction and range infoy  ̍,+߿ܨ ?_S{?Y B ; Q7 rT SL) 5I )\=i j< ?5ο K ? > r> ޹>) @I ޹ 1S@?99~o\#? Uſ) HI @i ޹  checking for new query: numPingsReceived=119, elapsed TxPingTime=55.478920y ^AmCIqIO>h,t{ǻ?A2jG"@2=0@2=ٱ2K< >AHRS rotation from veh to nav: [[-0.920237,-0.373177,-0.117911],[0.375976,-0.926628,-0.001620],[-0.108655,-0.045822,0.993023]]2Hr@!׿b/?Zлv?i2jG"@I2F^;2CYFyByFIbDNVDN yVy%V4=ٔV!Q-Z>9XYX=Z]FyX^7E^>`Q 5f4b]@?Q 9f4b )bNBYdyf?Q Ij?bbfCIb#;iba;b.4ylɮni1Alii6ǻ?AJiBRiBji@b֙/̆#:@|vC'@R̍,+߿ܨ ?_S{?Zi@bi޹j3Rs @Lۖ<>1Dm,(@Zsk˻?:͉}?2i:ic@"iN l?*iJ[BiBij)?iiiAi@ addTargetRange:: Added new target pos. range: 32.900002 m, deltaT: 0.506744 s, deltaX: 0.200001 m, approachRate: 0.394678 m/s, rangeRepo size: 4  Added new target pos. range: 32.756588 m, bearing: 276.708067 deg, lat: 36.779370 deg, lon: -121.859527 deg, deltaT: 1.007643 s, deltaX: 0.199020 m, approachRate: 0.197511 m/s, posRepo size: 4 DNOT Ignoring new targets: 32.76 m.hh*h"h hgff f d djd@3s@@Zd@.?checking for new query: numPingsReceived=119, elapsed TxPingTime=55.697929ZZZZl?AE=)I MiMB9)IMz IiIiQQURVIQIY ]99@ @@@@@fAq^A-HIAIaE, E.E,E"Ec;*E;VEg4ZEBEuԡ e DDAT read: Rx Time:04:03:39.4498 e TRx dataTimestamp_ set to:1761537820.628716m PDAT read: Bearing 88.3, 54.9 (Local) u ~Local bearing/azimuth received: Bearing 88.3, 54.9 (Local)  DAT read: Range 11 to 50 : 32.7 m (trip time 21.8 ms) speed 0.0  DAT read: 04:03:39.4498 LVL= 18304, 15649, 24178, 28099, AGC= 51, IDX= 497, 0.03, 0.811, 0.882,-0.710, 0.870, PHS= 0.044, 0.057,-1.624, RAW= 29.6, 17.8, CAL= 27.0, 20.8, ROT= 123.0, -20.8  Ygot valid direction response: 04:03:39.4498 LVL= 18304, 15649, 24178, 28099, AGC= 51, IDX= 497, 0.03, 0.811, 0.882,-0.710, 0.870, PHS= 0.044, 0.057,-1.624, RAW= 29.6, 17.8, CAL= 27.0, 20.8, ROT= 123.0, -20.8  V#Rx 120: Read range and direction messages. ^direction in FSK: [-0.509143,0.784011,0.355107] Fpublishing direction and range infoya e N\UJɝ?_S{?Ye Ba e Ge !=e r^ e m)e 3Ie X94=ie xi=e ;Ͽe A?e >e :F> a )e od @Ia a a e `Kc7z)va)}? e *ɿ)e JIe od @ia a a  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.,E,ǻ?Aɰ9qYq=u]FyquE}>yQ 54}3@?Q 94}H)}NBY/=Q E4yɮ0Aii<(ǻ?AJi:BRi:Bjiko@bٶ0u9@qɧm'@RN\UJɝ?_S{?Ziod @bijuGv@ WR=p9(@Z9)?YO]>dqWB?2i::i@"i ?*iBi5BibA??iiHBitAi@m addTargetRange:: Added new target pos. range: 32.700001 m, deltaT: 0.500383 s, deltaX: -0.200001 m, approachRate: -0.399695 m/s, rangeRepo size: 4 } Added new target pos. range: 32.557457 m, bearing: 278.305710 deg, lat: 36.779373 deg, lon: -121.859530 deg, deltaT: 0.500383 s, deltaX: -0.199131 m, approachRate: -0.397957 m/s, posRepo size: 4 }DNOT Ignoring new targets: 32.56 m.hyhy*hy"h hgfԩffBddjdY@@Zd?Z/=Z/=Z@ZRd?!)) -i-09))-B)i)i11=DUI9I92Acoustic response timeout$9 % 9@!  @! @% /@! bEjE|a4rE/E $ E YE E "E g\;*E w;VE ZE a @a @a @a @B! B! B% EIB% ;yBB% =B! B! B% Q;B% G:E1 ߅ 4=߅ %= DDAT read: Rx Time:04:03:39.9499  TRx dataTimestamp_ set to:1761537821.136408 PDAT read: Bearing 88.6, 53.6 (Local)  ~Local bearing/azimuth received: Bearing 88.6, 53.6 (Local)  DAT read: Range 11 to 50 : 32.9 m (trip time 21.9 ms) speed 0.0  DAT read: 04:03:39.9499 LVL= 17792, 14769, 23170, 22643, AGC= 55, IDX= 2, 0.07, 2.254, 2.378, 0.769, 2.348, PHS= 0.008, 0.075,-1.623, RAW= 28.0, 18.1, CAL= 25.6, 21.2, ROT= 124.4, -21.2 ^A OII)O5>]f,Jǻ?A*Ygot valid direction response: 04:03:39.9499 LVL= 17792, 14769, 23170, 22643, AGC= 55, IDX= 2, 0.07, 2.254, 2.378, 0.769, 2.348, PHS= 0.008, 0.075,-1.623, RAW= 28.0, 18.1, CAL= 25.6, 21.2, ROT= 124.4, -21.2 .R#Rx 1: Read range and direction messages.2^direction in FSK: [-0.526732,0.769273,0.361625]2Fpublishing direction and range infoy{aZ?t>i$?YBE9Z sX)7Io?>> q>) @Iq6ux/Lsk0eF&? Ϳ)OšI @iqn2Acoustic response timeoutnQuerying Benthos address 50 with one ping in standard two-way mode. AHRS rotation from veh to nav: [[-0.914178,-0.388371,-0.115962],[0.390971,-0.920403,0.000351],[-0.106868,-0.045017,0.993254]]bH@@ؿ ?s07?@[x ?ib%8=ٔ9Y=]FyE>!Q 5-4@?Q 9-4)NBY)y-?Q I-?qfCI).i$?Zi @biqjNzs@+H=SP(@Zx&?JuD> %_?2iz:i@"i Ğ?*iBiBiN l?iiBi$Ai@- addTargetRange:: Added new target pos. range: 32.900002 m, deltaT: 0.507692 s, deltaX: 0.200001 m, approachRate: 0.393941 m/s, rangeRepo size: 4 = Added new target pos. range: 32.756649 m, bearing: 278.760609 deg, lat: 36.779378 deg, lon: -121.859530 deg, deltaT: 0.507692 s, deltaX: 0.199192 m, approachRate: 0.392348 m/s, posRepo size: 4 eDNOT Ignoring new targets: 32.76 m.haha*ha"ha hagafififididqjdu@3s@@Zdu?ZZZZ?I=) i 9)  M i i5dI1I9Y2Acoustic response timeouty 9@  @ @ @ Ա EE 1 EE GEA EA "EE 2h;*EE ;VEA ZEA BEE `ׇ,ngǻ?A2DDAT read: Rx Time:04:03:40.4498 2TRx dataTimestamp_ set to:1761537821.6367606PDAT read: Bearing 89.6, 51.8 (Local) :~Local bearing/azimuth received: Bearing 89.6, 51.8 (Local) BDAT read: Range 11 to 50 : 32.7 m (trip time 21.8 ms) speed 0.0 HVDAT read: 04:03:40.4498 LVL= 17648, 15505, 24658, 29155, AGC= 50, IDX= 497, 0.09, 1.180, 1.379,-0.247, 1.319, PHS=-0.037, 0.105,-1.610, RAW= 25.7, 18.3, CAL= 23.6, 21.6, ROT= 126.4, -21.6 ZYgot valid direction response: 04:03:40.4498 LVL= 17648, 15505, 24658, 29155, AGC= 50, IDX= 497, 0.09, 1.180, 1.379,-0.247, 1.319, PHS=-0.037, 0.105,-1.610, RAW= 25.7, 18.3, CAL= 23.6, 21.6, ROT= 126.4, -21.6 ^R#Rx 1: Read range and direction messages.b^direction in FSK: [-0.551747,0.748371,0.368125]bFpublishing direction and range infoy02։*tl?{.MZ?Y2B02D2<2R` 2q)22I2Pi2= =2{ο2L>2Ƈ>2B> 2>)20 @I2002Kg!ީL~Y7? 2oҿ)2܄I20 @i200n2Acoustic response timeoutrQuerying Benthos address 50 with one ping in standard two-way mode. @^.@=ٱe 8 %AHRS rotation from veh to nav: [[-0.910976,-0.396081,-0.115074],[0.398589,-0.917129,0.001318],[-0.106060,-0.044666,0.993356]]H & bYٿ}u {?`YU?&|ަ?i @I^;Y5 zBy5IiMb@Mb@Mb@ 9~jt?Zd;O ףp= Y9Y=]FyE> Q 54 %@?Q 94 ) NBY=Q EAi99@ @@/@@=@= 2Acoustic response timeout^A ^IIO> tj,ǻ?A2-2 @2'.@29=ٱ2b8 :AHRS rotation from veh to nav: [[-0.907837,-0.403378,-0.114535],[0.405866,-0.913931,0.001749],[-0.105383,-0.044899,0.993418]]2H ٿ2R ?`>ȥ\?^ ?i2-2 @I2^;2CYNQzByRIbDXVDXyrC>%vj=ٔv;Q-v?9xYx=z]FyxzEz?E% E-E*E"EO];*EK;VE(N4ZEa5@a5@a5@a=@B]>BYB]XIB]YyBBYBYBYB]D;B];:EԹQ 5E44@?Q 9M4X)NBYqy}N?Q I}?}fCIf}q=꿩}X>} >}-\> }2+>)}@I}2+yy}AĿ\Ӭo~J\[vf? }Nݿ)};I}@i}2+yy2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.iyi}Oǻ?AJiyRiyji}@b} uE/4FrbŒ7@&!#@R}K`%?z0Gu?Zi}@bi}2+j}˹@$*=Ko%@Z}`"<,ǻ?A2î@2a-@2=ٱ2%: JAHRS rotation from veh to nav: [[-0.904618,-0.410692,-0.114011],[0.413164,-0.910654,0.002127],[-0.104698,-0.045181,0.993477]]2H@Hڿ/Hq?$ma?~ͺ@!?i2î@I2R^;2CYRfzByRIbD^VD^:ybO=%fD=ٔfEغQ-f>9hYh=j]FyhjYEn>lQ 5r4nG@?Q 9r4n)ntNBYtyvX?Q Iv?nfCInI;inU;nsz4yxɮ~/A|%DNOT Ignoring new targets: 32.56 m.h)h)*h)"h) h)g1f1f1f9d9d9jd9Zd=J?ZqZqZqZuX?ԑ=) eܿi9)页FiiwIIE7 E3E.E"Em;*Et ;VEـ4ZEBE>vοɩ>ɩ>2+> %>)@I%˾j?(ǿNJݔ? Դ)֩I@i%˾2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.9@ @@L0@A^A9nIIO>i ,yǻ?A2,@2`"-@2{=ٱ2<< :AHRS rotation from veh to nav: [[-0.901373,-0.417874,-0.113618],[0.420358,-0.907355,0.002296],[-0.104051,-0.045691,0.993522]]2H` pڿ@$?` \b?`@d@?i2,@I2m^;0YRzByRIi-Mb@Mb@Mb@)))) )9- rh?S㥫MbY-C =y-/]-)-EA ))-*A)Y-G!AbDEVDEyUd=%UB=ٔUʺQ-U>e2Acoustic response timeout9aYa=m]Fyim@Em>qQ 54u@?Q 94u)ueNBY2=Q E9BBIByBB =BBB2;B':EE/ EE/E"Eaf;*E:VEJ4ZEBEϷ<2EϷ<JES<:ES<ԩ DDAT read: Rx Time:04:03:41.9498  TRx dataTimestamp_ set to:1761537823.148768% PDAT read: Bearing 96.7, 47.9 (Local) % ~Local bearing/azimuth received: Bearing 96.7, 47.9 (Local) = DAT read: Range 11 to 50 : 32.7 m (trip time 21.8 ms) speed 0.0 e DAT read: 04:03:41.9498 LVL= 22768, 16689, 28002, 29811, AGC= 50, IDX= 513, 0.01,-1.140,-0.644,-2.636,-0.936, PHS=-0.102, 0.338,-1.743, RAW= 18.4, 15.7, CAL= 17.4, 18.7, ROT= 132.6, -18.7 u Ygot valid direction response: 04:03:41.9498 LVL= 22768, 16689, 28002, 29811, AGC= 50, IDX= 513, 0.01,-1.140,-0.644,-2.636,-0.936, PHS=-0.102, 0.338,-1.743, RAW= 18.4, 15.7, CAL= 17.4, 18.7, ROT= 132.6, -18.7 u R#Rx 1: Read range and direction messages. ^direction in FSK: [-0.641144,0.697239,0.320613] Fpublishing direction and range infoy  9  Yb^@1aO?C.j?Y B  X 1A bm  st) 2I `нi V> ߿ l> K> |>  >) @I    ,LظȿfK/uH?  ) DI @i   U 2Acoustic response timeoutU Querying Benthos address 50 with one ping in standard two-way mode.% 9@!  @! @% 0@! @) @- gA ^ACqIIO?{,Rǻ?A6!;@60,@6=ٱ6Dc= >AHRS rotation from veh to nav: [[-0.895202,-0.431233,-0.112480],[0.433666,-0.901068,0.003131],[-0.102702,-0.045976,0.993649]]6H}Sۿ˼`/?Vi?J6?i6!;@I6\a^;4YFzByF3IIn<)n=bDrVDryz=%~#=ٔ~1Q-~>9Y=]FyE>iIA2Acoustic response timeout Q 5%4 ??Q 9%4 I) UNBY)y-(̿2+>w>Q > #>),@I#_jw~MOʿNC BR+?%? u)(I,@i#m 2Acoustic response timeoutm Querying Benthos address 50 with one ping in standard two-way mode.^A} NB{I I O > ,*ǻ?A2@2W+@2D}=ٱ2; :AHRS rotation from veh to nav: [[-0.892072,-0.437875,-0.111682],[0.440206,-0.897887,0.004187],[-0.102111,-0.045428,0.993735]]2H`ڋ&ܿ`3`T,?~&q?`#QB?i2@I2_^;2CYzByCIiEMb@Mb@Mb@AAAA A9EV-?9Y=]Fy5E>Q 54J??Q 943)INBY=Q E <y?Q I?fCI;i;4yɮR-Ai i 2ǻ?AJi BRi Bji 3@b "W65J^$6@M#@R ;E?+0?Zi ,@bi #j  c@#7C`=Hv%@Z T"ty^?Љ*z)?2i :i @"i %cݟ?*i ϠFBi Bi Rȟ?i ϠFi PBi Ai {@ addTargetRange:: Added new target pos. range: 32.599998 m, deltaT: 0.504015 s, deltaX: -0.100002 m, approachRate: -0.198411 m/s, rangeRepo size: 4  Added new target pos. range: 32.457912 m, bearing: 285.050765 deg, lat: 36.779415 deg, lon: -121.859524 deg, deltaT: 0.504015 s, deltaX: -0.099567 m, approachRate: -0.197549 m/s, posRepo size: 4 DNOT Ignoring new targets: 32.46 m.hh*h"h hgfffBddjdL@@Zd ;?-2Acoustic response timeoutZu=Zu=Zu @Zu?D}=) ޿i9)絉ii IIID?)?!I E = E 7E ,E "E s;*E ;VE g4ZE a @a @a @a @B >B ,CB IB yBB =B B B /;B :EBIBM,CBIBMɿ =BMɿ =CMɊ51  DDAT read: Rx Time:04:03:42.9498  TRx dataTimestamp_ set to:1761537824.156732 PDAT read: Bearing 100.2, 50.7 (Local)  ~Local bearing/azimuth received: Bearing 100.2, 50.7 (Local)  DAT read: Range 11 to 50 : 32.7 m (trip time 21.8 ms) speed 0.0 - DAT read: 04:03:42.9498 LVL= 20112, 17713, 27458, 30163, AGC= 52, IDX= 513, 0.23,-1.023,-0.601,-2.438,-0.937, PHS= 0.015, 0.380,-1.545, RAW= 19.7, 12.9, CAL= 18.8, 14.9, ROT= 131.2, -14.9 5 Ygot valid direction response: 04:03:42.9498 LVL= 20112, 17713, 27458, 30163, AGC= 52, IDX= 513, 0.23,-1.023,-0.601,-2.438,-0.937, PHS= 0.015, 0.380,-1.545, RAW= 19.7, 12.9, CAL= 18.8, 14.9, ROT= 131.2, -14.9 = R#Rx 1: Read range and direction messages.= ^direction in FSK: [-0.636542,0.727116,0.257133]E Fpublishing direction and range infoy  n^6V[D?Fht?Y B N 1E Bk u) 4I u ſ x > f> > %>) C@I % fnDƿ62_? 5) gI C@i % ] 2Acoustic response timeout] Querying Benthos address 50 with one ping in standard two-way mode.m 9@i  @i @m 0@q q @} =@} =ԡ^A~IIO ?,nȻ?AYz {ByzbI ||bDVDy=%!=ٔQ->9Y=]Fy!%E%>)Q 554->?Q 954-)-仼9"@Z("A?\=^87f?2i:i@"i0%?*iBi=BiiiBiAi@ addTargetRange:: Added new target pos. range: 32.700001 m, deltaT: 0.503949 s, deltaX: 0.100002 m, approachRate: 0.198437 m/s, rangeRepo size: 4  Added new target pos. range: 32.557156 m, bearing: 283.324574 deg, lat: 36.779415 deg, lon: -121.859524 deg, deltaT: 0.503949 s, deltaX: 0.099243 m, approachRate: 0.196931 m/s, posRepo size: 4 DNOT Ignoring new targets: 32.56 m.hh*h"h hgfffddjdY@@Zd?ZZZZ) xؿiq9)iiII2Acoustic response timeout599@ @@z0@E+ E"E*E"Eb;*E;VE(N4ZEBEe DDAT read: Rx Time:04:03:43.4498 e TRx dataTimestamp_ set to:1761537824.660785u PDAT read: Bearing 88.7, 46.9 (Local) u ~Local bearing/azimuth received: Bearing 88.7, 46.9 (Local)  DAT read: Range 11 to 50 : 32.7 m (trip time 21.8 ms) speed -0.1  DAT read: 04:03:43.4498 LVL= 18800, 16705, 24882, 27635, AGC= 51, IDX= 513,-0.33, 1.828, 2.224, 0.395, 2.105, PHS=-0.175, 0.164,-1.753, RAW= 20.5, 19.4, CAL= 19.0, 23.2, ROT= 131.0, -23.2  Ygot valid direction response: 04:03:43.4498 LVL= 18800, 16705, 24882, 27635, AGC= 51, IDX= 513,-0.33, 1.828, 2.224, 0.395, 2.105, PHS=-0.175, 0.164,-1.753, RAW= 20.5, 19.4, CAL= 19.0, 23.2, ROT= 131.0, -23.2  R#Rx 1: Read range and direction messages. ^direction in FSK: [-0.603007,0.693680,0.393942] Fpublishing direction and range infoya e  KKp2?3X6?Ya a e pIe AAe 2a e k)e 3Ie 333ie '>e Nb࿩e 0>e -\>e ɩ> e 4Q>)e T@Ie 4QϾa a e KĿri#Gm?? e ]޿)e IEIe T@ie 4QϾa a  2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.Ա ,EK.Ȼ?A2@2*@2=ٱ27-6 >AHRS rotation from veh to nav: [[-0.886455,-0.449573,-0.109922],[0.451702,-0.892148,0.006110],[-0.100813,-0.044236,0.993922]]2H]ܿ#@?yy?ι 4?i2@I2]^;2CYj={ByjIiUMb@Mb@Mb@QQQQ Q9U+?A`" rhYU=yUٽUCU&AQ Q)QQYUQ AԑbDiVDiy2=%4=ٔj9Y=]FyE>Q 54=?Q 94s)2NBY>Q E;yG?Q I ?fCI!;i;:4yɮ+AiiMJ*Ȼ?AJiRiji4+@bAdEס3Ⱦɑ6@~׳)@R KKp2?3X6?ZiT@bi4QϾjE]!\@x_#ZM>ZM@ZMG?e=)a e(ܿi9)額iiII2Acoustic response timeout% 9 9@  @ @ 0@ B= >B9 B= IB= WzBB= =B9 B9 B= ;B= :EE 5 E 8E -E "E k;*E  ;VE t4ZE BE <2E <JE j<:E j< } DDAT read: Rx Time:04:03:43.9499 } TRx dataTimestamp_ set to:1761537825.164732 PDAT read: Bearing 90.8, 48.3 (Local)  ~Local bearing/azimuth received: Bearing 90.8, 48.3 (Local)  DAT read: Range 11 to 50 : 32.9 m (trip time 21.9 ms) speed -0.1  DAT read: 04:03:43.9499 LVL= 21360, 16881, 25474, 28147, AGC= 56, IDX= 2, 0.07,-0.860,-0.492,-2.224,-0.653, PHS=-0.105, 0.206,-1.615, RAW= 20.8, 17.6, CAL= 19.3, 21.1, ROT= 130.7, -21.1  Ygot valid direction response: 04:03:43.9499 LVL= 21360, 16881, 25474, 28147, AGC= 56, IDX= 2, 0.07,-0.860,-0.492,-2.224,-0.653, PHS=-0.105, 0.206,-1.615, RAW= 20.8, 17.6, CAL= 19.3, 21.1, ROT= 130.7, -21.1  R#Rx 1: Read range and direction messages. ^direction in FSK: [-0.608378,0.707304,0.359997] Fpublishing direction and range infoyy } ww-:} Rο} ޹>} nF>} iw> } )>)} I@I} )y y } %"zÿHnGYZ? } gݿ)} LI} I@i} )y y  2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.^A%#I1AIqO}?,NȻ?A]M@]*@]9=ٱ]K5 mAHRS rotation from veh to nav: [[-0.883787,-0.454993,-0.109099],[0.457070,-0.889406,0.006609],[-0.100040,-0.044025,0.994009]]]HGݿ@?v{?<@{?i]M@I](^;]CY[{ByII <) bDVDfyEv=%E%=ٔEͺQ-M>9IYI=M]FyIU-IEU>yQ 54}=?Q 94})}(NBYy?Q I?}fCI}:i}F:}4yɮE+AiiJȻ?AJiBRiBji@bQ3)+7@}'@Rww-:J,phȻ?A %DDAT read: Rx Time:04:03:44.4499 %TRx dataTimestamp_ set to:1761537825.6687385PDAT read: Bearing 90.7, 47.7 (Local) 5~Local bearing/azimuth received: Bearing 90.7, 47.7 (Local) EDAT read: Range 11 to 50 : 32.9 m (trip time 21.9 ms) speed -0.2 mDAT read: 04:03:44.4499 LVL= 19280, 19921, 29826, 32755, AGC= 50, IDX= 498,-0.21, 2.375, 2.767, 1.028, 2.598, PHS=-0.121, 0.214,-1.614, RAW= 20.1, 17.7, CAL= 18.7, 21.2, ROT= 131.3, -21.2 uYgot valid direction response: 04:03:44.4499 LVL= 19280, 19921, 29826, 32755, AGC= 50, IDX= 498,-0.21, 2.375, 2.767, 1.028, 2.598, PHS=-0.121, 0.214,-1.614, RAW= 20.1, 17.7, CAL= 18.7, 21.2, ROT= 131.3, -21.2 uR#Rx 1: Read range and direction messages.}^direction in FSK: [-0.615335,0.700421,0.361625]}Fpublishing direction and range infoy!%{pӰ㿷$i?t>i$?Y!!%PK%M%t %)%2I%i%"[>%ο%>%2+>%> %q>)%ܩ@I%q!!%[8XĿf׽s? %3߿)%I%ܩ@i%q!!2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.Y {By Iii]Mb@Mb@Mb@YYYY Y9])\(?K7~jtY]G=y]I ]Y]tA Y)]((AYY] AAAbDVD{Uy=%)=ٔQ->9Y=]FyE>Q 5 4;?Q 9 4Q = tI)NBY4>Q E;y0?Q I?fCI;i;q4yAɮE*AAi!i%jȻ?AJi!Ri!ji%bK@b%'['4fɐr6@R+7߰'@R%{pӰ㿷$i?t>i$?Zi%ܩ@bi%qj%~TT@׼L=Nȏ)@Z% `?5FԶw^ҵ?2i%R:i%@"i%'6Z}4>Z}q@Z}=0?)ԙ ٿi%9)页qiiII92Acoustic response timeoutE 9@A  @A @M 4@I ^Am (I I O >wY!,Ȼ?AAAB B B"3IB"zBB" =B B B"-;B":EDDzDDbE5^n4jE5m4rE57/ERM ER0ER+EP"ERˀ;*ER;VER [4ZEPBERQ<2ERQ<JEREc<:EREc<@u)@=ٱ9j7 AHRS rotation from veh to nav: [[-0.876348,-0.469649,-0.106975],[0.471709,-0.881729,0.006744],[-0.097491,-0.044551,0.994239]]H ޿b@z0?7{?'^Ϧ?i@I_f^;CY{ByI)bD5VD5y==%E[=ٔEQ-E>9iYi=m]Fyim'3Eu>qQ 5}4u:?Q 94u)uNBYy?Q I?ufCDDAT read: Rx Time:04:03:44.9500 TRx dataTimestamp_ set to:1761537826.172791PDAT read: Bearing 91.5, 47.8 (Local) ~Local bearing/azimuth received: Bearing 91.5, 47.8 (Local) DAT read: Range 11 to 50 : 33.0 m (trip time 22.0 ms) speed -0.2 DAT read: 04:03:44.9500 LVL= 21712, 16657, 28722, 32755, AGC= 52, IDX= 498, 0.49,-2.897,-2.494, 2.037,-2.690, PHS=-0.105, 0.241,-1.600, RAW= 19.8, 17.0, CAL= 18.5, 20.4, ROT= 131.5, -20.4 Ygot valid direction response: 04:03:44.9500 LVL= 21712, 16657, 28722, 32755, AGC= 52, IDX= 498, 0.49,-2.897,-2.494, 2.037,-2.690, PHS=-0.105, 0.241,-1.600, RAW= 19.8, 17.0, CAL= 18.5, 20.4, ROT= 131.5, -20.4 R#Rx 1: Read range and direction messages.^direction in FSK: [-0.621062,0.701983,0.348572]Fpublishing direction and range infoykd?^Lv?<O?YBTA2p )4I= ׽iv>̿;>>MQ> K>) @IKlsſGYcaұ? G߿)ŗI @iK-2Acoustic response timeout-Querying Benthos address 50 with one ping in standard two-way mode.Iu:iutD̿C> x >)Ix MUſ_5ü? e߿) AHRS rotation from veh to nav: [[-0.874132,-0.473974,-0.106026],[0.476010,-0.879413,0.006824],[-0.096475,-0.044504,0.994340]]uH `U޿$v?'${?@@<ɦ?iuY0@Iu[^;uCY{ByIIix 2Acoustic response timeout%Querying Benthos address 50 with one ping in standard two-way mode. 1iMb@Mb@Mb@ 9V-?ktƿI +Y=y 09A )YAbDVD1y <%-<ٔ5˺Q-5>91Y1=5]Fy9=E=>AQ 5m4E9?Q 9m4EU)ENBYuU>Q Eu~;yu?Q Iu?EgCIE;iEh;E& 4y} Bɮ}<)A}VEiiȻ?AJiBRiBjiۜ@bF?o4q7@tNk}&@Rǚyl;v$W?M?Zibix joZ:@؄ec=|!'@Zr˼mr?(@gEiȜK?2i:iѷ@"iB0?*itBiBiЖ%?iiiAi(@M addTargetRange:: Added new target pos. range: 32.900002 m, deltaT: 0.508097 s, deltaX: -0.099998 m, approachRate: -0.196810 m/s, rangeRepo size: 4 ] Added new target pos. range: 32.756229 m, bearing: 280.852590 deg, lat: 36.779398 deg, lon: -121.859523 deg, deltaT: 0.508097 s, deltaX: -0.099564 m, approachRate: -0.195954 m/s, posRepo size: 4 eDNOT Ignoring new targets: 32.76 m.hah*h"h hgfffEBddjd@3s@@Zd^?ZU>ZU>Zȩ@ZS?u=) QؿiZ9)iiAAAIAIIIU8?)U`?a 2Acoustic response timeoutԑ m {9=9@9 @9@=/@9BBBeIB{BB =BBԹBBDDE%. E%3E%-E!"E%ye;*E%t ;VE%t4ZE!BE% 5DAT read: 50 =:unknown deviceResponse_: 50 =DAT read: Ok =:unknown deviceResponse_: Ok =(DAT read: user:47> EBDAT read: Tx time:04:03:46.3811 M$Ping request sent.MC}gGY{ByIa9YׇAԁbDUVDUFy8=%#=ٔ> Q->9Y=]FyE>Q 5 4 9?Q 9 4)MBYyR?Q I?+gCId:i:4yɮE(AADNOT Ignoring new targets: 32.76 m.hh*h"h hgfffddjdZd ?Z9Z9Z9Z=aR?M=)I U,ԿiUF9)QU~QiQiyyyIIԱUchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.2488899= 9@9  @A @A @A E 7 E 2E E "E m;*E ;VE ZE a @a @a @a @ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503473^A=IQIaOu>N:,WȻ?A`j@jO(@j =ٱj@3 vAHRS rotation from veh to nav: [[-0.869715,-0.482526,-0.103749],[0.484443,-0.874790,0.007530],[-0.094392,-0.043712,0.994575]]jH`޿C? H~? *@\a?ij@Ij^;hY~{By~IiMb@Mb@Mb@ 9V-?^I +ǿ+Yh>yX9A 1A)X'AY AbDVD:y$=%9=ٔQ->9Y=]Fy2E>Q 547?Q 94)MBYn>Q Ec;y?Q I?EgCI:is:4yɮn(ADNOT Ignoring new targets: 32.76 m.hh*h"h hgfffddjdZd?Z=n>Z=n>Z=@Z=?U =)q uѿiu9)q}涵yiyiyII!]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755755I) 9@  @ @ /@ I B= <A9 BE >BA BE IBE K{BBE =BA BA BE ;BE 9EE C E .E ,E "E x;*E ;VE g4ZE BE {sB,I ɻ?Aɰ6@6'@6Ƽ=ٱ6p0 BAHRS rotation from veh to nav: [[-0.865383,-0.490781,-0.101222],[0.492585,-0.870227,0.008067],[-0.092045,-0.042879,0.994831]]6H7h߿鹿?`l?IK ?i6@I6x^;4YF{ByJIbDRVDR:2nchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.004912yu%;=ٔTQ->9Y=]Fy%UE%>!Q 554%6?Q 954%c)%MBY1y5?Q I5?%^gCI%;i%;%3!4yAɮE(AADNOT Ignoring new targets: 32.76 m.hh*h"h hgfffddjdZd2?Z!Z!Z!Z%?5Ƽ=)9 =ҿi=9)9=9i9iAaiIiIi qqԉԱѩ99@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257968 ^A I I O >H,N+%ɻ?A6)@6Ǣ'@6To=ٱ60 BAHRS rotation from veh to nav: [[-0.863094,-0.495014,-0.100146],[0.496794,-0.867831,0.008074],[-0.090907,-0.042783,0.994940]]6Hw@P߿2@y?@E0?E祿@?i6)@I6^;6CYJ{ByJIbDRVDRβy~%~D=ٔ~3Q->9Y=]Fy <E >Q 545?Q 94)MBYyU?Q I%?wgCI9:iR:}(4y)ɮ-(A)EU4 EUJEU.EQ"EUj;*EU;VEUـ4ZEQa]@a]@ae@ae@mDNOT Ignoring new targets: 32.76 m.hihq*hq"hq hqgqfqfyfydydyjdZd -?ZZZZU?To=) Mӿi9)iiIIqu%?u_?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512866ԙM99@ @@0@% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762431^A FӅ I) I9 OE >EO,B>ɻ?AZ[^@ZS'@ZvW=ٱZ 1 jAHRS rotation from veh to nav: [[-0.860775,-0.499194,-0.099362],[0.500986,-0.865420,0.007811],[-0.089889,-0.043056,0.995021]]ZHw߿ o ?`G?`c 5?iZ[^@IZ<^;XYv{ByzIiMb@Mb@Mb@ 9Mb?(\ſA`"Y>y.Y$AA A)%AYAbDVDy<%==ٔQ->9Y=]Fy5E>Q 5 45?Q 9 4})MBY`>Q Er;y2?Q I?gCI;ih;04yɮ%(A!MDNOT Ignoring new targets: 32.76 m.hIhI*hI"hI hIgQfQfQf]2BdYdYjdYZd]@ @Z}`>Z}`>Z}r@Z}2?vW=) οi[9)顝r,iiIIu9q}>i}>B>B+CBIBj{BB =BBB;B9EBu,CBqBqBu =Bu =Cuü5Eu8 EuEu1Eq"Eun;*Eu:VEu-4ZEqBEuܾ qU,Xɻ?ALY{ByIbD-VD-Ny=n^%=V=ٔEQ-E>9AYA=E]FyIMEM>QQ 5]4U\4?Q 9]4U_)UMBYYyaQ Ie?UgCIU#;iUa;U64yiɮm(AiiIAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.265029-DNOT Ignoring new targets: 32.76 m.h1h1*h1"h1 h1g1f9f9f9d9dAjdAZdE >@ZaZaZaZaq)y }пi}9)y}FyiyiII9E}2 E}NE},Ey"E}i;*E};VE}g4ZEya@a@a@a@9@9 @A@E4@A checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521309! ^Au I I O >8\,?sɻ?AB)@BǴ&@B9=ٱBl2 JAHRS rotation from veh to nav: [[-0.856020,-0.507609,-0.097792],[0.509417,-0.860488,0.007365],[-0.087887,-0.043513,0.995180]]BH@d`U>@%M? O*~?@SG?iB)@IBi^;BCYR{ByRIXi5Mb@Mb@Mb@1111 195A`"?OnÿX9vY5=y55}5r"A5A 51A)5$A1Y5AbDMVDM:y]ĩ%]D=ٔ]ߝQ-]>9aYa=e]FyamӾEm>qQ 5}4u 4?Q 9}4ua)upMBY}E>Q E};y}l?Q I?ugCIu3:iu:u>4yɮ)A5DNOT Ignoring new targets: 32.76 m.h1h1*h1"h1 h9g9f9f9fEBdAdAjdaZdm@ @ZE>ZE>ZZ@Zl?9=) ¿i9)`ii  I I checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768782(9AY AY Ba Ba Ba Ba Ba Ba Ba Be ۃ;Be 9Ey @y  @y @} 4@y D9 zD= @AEE 1 EE DEA EA "EE 2h;*EE h;VEA ZEA BEE `}c,pɻ?A2ie@2[&@2ز=ٱ22 JAHRS rotation from veh to nav: [[-0.853267,-0.512350,-0.097124],[0.514129,-0.857679,0.007642],[-0.087217,-0.043413,0.995243]]2H M@,e ݸs?`rM?@SC:?i2ie@I2Z^;2CYR{ByRIbDZVDZyb%b;=ٔfʺQ-f>9dYh=j]FyhjJMEj>lQ 5r4n3?Q 9r4nJ)nSMBYpyv?Q Iv?ngCIn:iny:nE4yxɮzH)AxDNOT Ignoring new targets: 32.76 m.h!h!*h!"h! h!g!f!f)f)d)d1jd1Zd5z @ZQZQZQZU?eز=)a mĿimt9)imyiiqiqqyIyIyԡ9@ @@/@@fA@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273048^AIIO >E I E +E -E "E };*E =;VE t4ZE a @a @a @a @1 #j,}=ɻ?AB4<ɰ@}DAT read: 04:03:48.8305 LVL= 29536, 19489, 30946, 32755, AGC= 56, IDX= 268,-0.18, 1.621, 2.182, 0.392, 1.894, PHS=-0.171, 0.332,-1.546, RAW= 15.0, 16.2, CAL= 14.3, 19.7, ROT= 135.7, -19.7 Ygot valid direction response: 04:03:48.8305 LVL= 29536, 19489, 30946, 32755, AGC= 56, IDX= 268,-0.18, 1.621, 2.182, 0.392, 1.894, PHS=-0.171, 0.332,-1.546, RAW= 15.0, 16.2, CAL= 14.3, 19.7, ROT= 135.7, -19.7 PDAT read: Bearing 92.1, 44.7 (Local) ~Local bearing/azimuth received: Bearing 92.1, 44.7 (Local) DAT read: Range 11 to 50 : 33.9 m (Round-trip 45.3 ms) speed -0.3 m/s | @&@`}=ٱf2 AHRS rotation from veh to nav: [[-0.850513,-0.517026,-0.096498],[0.518783,-0.854870,0.007859],[-0.086556,-0.043378,0.995302]]Hf7@zޙ? [6?(5?i| @Iq^;C (DAT read: user:48> BDAT read: Tx time:04:03:49.9311 $Ping request sent.w ?M?YBY{ByII)>)p;`s!Lx )8I/i>Tſ >Ð>r> )@I0Ͽ\WH[9? )吾I@i:publishing transmit ping timeFpublishing direction and range infoy̏>w ?M?Y )Ii )I0Ͽ\WH[9? )Iii%Mb@Mb@Mb@!!!! !9%V-?V-MbY%h=y%%!%A %`A)!!Y%AbDEVDE:yM=ͼ%U=ٔU]Q-U>9QYy=}]FyyE>Q 544?Q 94N).MBY>Q E;y?Q I?gCIiw ?M?Zi@bij&ן@kzIY>M(@Z4#@ʬ?Ш^<~Ba?2ir:i@"iZ]>Z]Q_@Z]?`}=) i9)顕OiiII 69i) I) a  9@  @ @ X3@ ԑ B >B B IB U{BB B B B ;B 9E^A I I O>:q,?ɻ?A2a@2%@2eb=ٱ22 :AHRS rotation from veh to nav: [[-0.847719,-0.521682,-0.096026],[0.523425,-0.852033,0.008054],[-0.086019,-0.043435,0.995346]]2H '`?Cu~?S =`?i2a@I2ta^;2CYB{ByBIbDNVDN!DV=DTbE=t4jE=A{4rE=/EZ: EZ!EZ.EX"EZ\p;*EZ:VEZـ4ZEXBEZmx,hɻ?A2V@21L%@2=ٱ22 :AHRS rotation from veh to nav: [[-0.844770,-0.526514,-0.095641],[0.528237,-0.849056,0.008376],[-0.085615,-0.043446,0.995381]]2H@Z4{Q?v+C'?`굿 >(?i2V@I2C^;0YB{ByBIbDJVDJܲyRR+%RK=ٔVQ-V>9TYX=Z]FyXZrEZ>\Q 5b4^m4?Q 9b4^ɶ)^LBYdyf??Q If?^gCI^):i^:^[4yhɮj.*AlDNOT Ignoring new targets: 33.75 m.hh*h"h hgf f f ddjdZd<;?Z9Z9Z9Z=q??=) kſi:9)ʡiiII E% E7E)E"EO];*E ;VEFA4ZEa@a@a@a@9Ui9ImeA)i%9@! @!@!@!I1IIOU>aԉ R'~,O]ɻ?AYn{BynI ppiuMb@Mb@Mb@qqqq q9u&1?{Gzp= ףYuP=yuףuu!AuA uA)ur"AqYu AbDVD0ye%<=ٔQ->9Y=]FyE>Q 544?Q 94)LBY=Q E;y?Q I?hCI;i";Wc4yɮU*AqDNOT Ignoring new targets: 33.75 m.hh*h"h hgff f BddjdZd ?ZU=ZU=ZU)@ZU>?) 뱿i+9)顅iiIIԙB>BBwIB-{BBBBB;B9E9@ @@ 0@I)I9OMR>E9 E4E-E"Eso;*E ;VEt4ZEBE9dYd=f]FydjPEj>lQ 5r4n4?Q 9r4nƴ)nLBYpyvf?Q Iv?n hCIn: ;in;ni4yxɮz9*AxDNOT Ignoring new targets: 33.75 m.hh*h"h hgfffddjdZd@?ZZZZbf?=) iY9)oiiIIw99@ @@0@IIO>) E < E AE )E "E ,r;*E ;VE FA4ZE a @a @a @a @Y @,3/ʻ?A-%@-_$@-#߮=ٱ-Ҫ5 =AHRS rotation from veh to nav: [[-0.834820,-0.542161,-0.095588],[0.543877,-0.839113,0.009358],[-0.085283,-0.044176,0.995377]]-HضaYzxpg?'*?@յ@F ?i-%@I-8a^;-CY}{By}IiMb@Mb@Mb@ 9~jt?MbY91Y1=5]Fy9=iE=>AQ 5M4E_5?Q 9M4E0)ELBYUӑ=Q EU:i>q @y  @y @} 0@y y I I O >B >B B kIB {BB B B DB ۃ;B 9EK,Hʻ?A0>!@>#@>9=ٱ>7 JAHRS rotation from veh to nav: [[-0.831392,-0.547371,-0.095777],[0.549092,-0.835706,0.009712],[-0.085357,-0.044516,0.995355]]>Hš`ф@)??ٵʦ?i>!@I>jX^;>CER8 ERFER-EP"ERn;*ERv;VERt4ZEPBERܾ)v;bD~VD~y % `=ٔ V9Q- >9Y=]Fy⌼E>AQ 5E4E5?Q 9M4E)ELBYIyMߣ?Q IM?EhCIE:iEN:E>x4yQɮ]*AYDNOT Ignoring new targets: 33.75 m.hh*h"h hgfffddjdZd@Z1Z1Z1Z52ߣ?E9=)I MխiM9)IMTζIiIiIIԉԹa99@ @@4@IIO> eI,bʻ?A2@a@2V#@2=ٱ2 8 :AHRS rotation from veh to nav: [[-0.828237,-0.552128,-0.095807],[0.553850,-0.832556,0.010010],[-0.085292,-0.044773,0.995350]]2H@ ֆ@#?M?յo즿`?i2@a@I2@y^;2CYV{ByZI\bDfVDfNyjS=%nM=ٔn-Q-n>9pYp=r]FypvkEv>tQ 5z4vS6?Q 9~4v4)vLBY|y~#?Q I~?vhCIv;ivr;v4y ɮ )A 5DNOT Ignoring new targets: 33.75 m.h1h1*h1"h1 h1g9f9fAfAdAdAjdAZdM/@ZiZiZiZm#?}=)y }i}9)顅ضiiIIEa E1E.E"E݉;*Ef;VEـ4ZEa@a@a@a@BDAT read: Rx Time:04:03:52.3813 TRx dataTimestamp_ set to:1761537833.735443]99@ @@3@I!I1OE>A xs,|ʻ?A2@2"@21=ٱ2E,8 :AHRS rotation from veh to nav: [[-0.825131,-0.556746,-0.095880],[0.558444,-0.829475,0.010615],[-0.085440,-0.044785,0.995336]]2H`xg`? ?jߵ ?i2@I20^;0YB{ByBIiMb@Mb@Mb@)i!I! 9y&1?:v/$Y`e9)Y)=5]Fy1=LE=>9Q 5E4=6?Q 9M4=ݲ)=xLBYMKR=Q EMBu*CBueIBu{BBu =BqBqBuƒ;Bu9EB5+CB5+CB1B5 =B5 =C5_5-9@) @1@5/@1IIIYOeV>E2 EBEE"Ei;*EZ;VEZEBE(¿k>K>b> 㭪>)]@I㭪0֕ѿiRK? ])sI]@i㭪ԡ 6\,x{ʻ?A2A@2ߣ"@2d=ٱ2a7 :AHRS rotation from veh to nav: [[-0.822119,-0.561193,-0.095828],[0.562853,-0.826480,0.011291],[-0.085537,-0.044654,0.995334]]2HNJ@2?r?嵿ܦ`?i2A@I2^;2CYN{ByRI TV<bDZVDZyf=%fc=ٔf-9Q-f>9hYh=j]FyhjtEn>Q 546?Q 9 4)iLBY y 1?Q I ? hCI:iN:H4yɮ=)A9yi i h#ʻ?AJi e BRi e Bji @b : 7Nofj6@ z&@R /N8?#e#?Zi ]@bi 㭪j Q_q@h}?q1}(@Z Y?}Vi>?2i :i @"i |??*i Bi WBi '6E ? E -E +E "E t;*E K;VE [4ZE a @a @a @a @ %= a=f,B_ʻ?Ae]@e\S"@esZ=ٱe6 AHRS rotation from veh to nav: [[-0.819345,-0.565270,-0.095625],[0.566887,-0.823709,0.011942],[-0.085517,-0.044424,0.995346]]eH@8z#?[t?s䵿þ?ie]@Ie^;aY{ByIi-Mb@Mb@Mb@)))) )9-Q?Zd;OL7A`堿Y-u9Y=]Fy+E>Q 546?Q 94A)YLBY/=Q EB] >BY B] wIB] -{BB] =BY BY B] ;B] 9Eq Ym,.ʻ?A2 @2K"@2^=ٱ2X6 :AHRS rotation from veh to nav: [[-0.816529,-0.569353,-0.095486],[0.570934,-0.820900,0.012542],[-0.085526,-0.044276,0.995352]]2H!`#8q@E?`D? 嵿`H?i2 @I2Oq^;2CEBU EB*EB*E@"EBl;*EB;VEB(N4ZE@BEBԉԹ ,| ʻ?A;ɰ2U@2!@2<=ٱ2'6 :AHRS rotation from veh to nav: [[-0.813619,-0.573522,-0.095379],[0.575083,-0.817992,0.012975],[-0.085461,-0.044294,0.995356]]2H`* `JZj@g?`,?ൿ?i2U@I2f^;2CYN|ByRIbDZVDZyv=%vH=ٔv&Q-v>9xYx=z]FyxzKE~>|Q 54~67?Q 9 4~)~?LBY y ?Q I ?~)hCI~:i~y:~u4yɮ'AEDNOT Ignoring new targets: 34.35 m.hAhA*hA"hA hAgAfIfIfIdIdQjdQZdU ?ZqZqZqZuB?U<=)Q UiU9)Y]YiYiaaaIaIa imgAԑEC EUE+E"Ex;*E\;VE [4ZEa@a@a@a@ر9M9@Q @Q@U_0@QIaIqO}> ,ʻ?ABi@Bc_!@B=ٱBF6 VAHRS rotation from veh to nav: [[-0.810824,-0.577488,-0.095246],[0.579033,-0.815195,0.013353],[-0.085355,-0.044324,0.995364]]BH Ezbp?X? ٵ@?iBi@IB>^;@Yb5|BybIiMb@Mb@Mb@ 9Q?QS㥛Y\=y/ݼA KA)+AY(AbDVDy>=%>=ٔQ->9Y=]FyS9E>Q 546?Q 949)3LBYZ=Q Ex?Q I?.hCI:iӓ<4yYɮ]'AYDNOT Ignoring new targets: 34.35 m.hh*h"h hgfnManaging dock network, ignoring radio surface power offffBddjdZdJ.?ZZ=ZZ=Zb@Z>?M=)Q UᚿiU9)QU QiYiYYaIaIaB <A B>BBIB_{BB =BBB;B9EDzDbE%|a4jE%b4rE%0E_ E]E,E"E;*E;VEg4ZEBEl,˻?A 6}@6!@6=ٱ6 6 >AHRS rotation from veh to nav: [[-0.808135,-0.581275,-0.095063],[0.582813,-0.812493,0.013577],[-0.085130,-0.044432,0.995379]]6H=Ι V@g?@ ΋?˵ؿ`$?i6}@I6Q^;4YFr|ByF?IbDNVDNyv >%vX=ٔv,Q-v>9xYx=z]FyxzIE~>Q 546?Q 9 4Ȱ)(LBY y ?Q I ?2hCI:i:4yɮ&AEDNOT Ignoring new targets: 34.35 m.hAhA*hA"hA hIgIfIfIfQdQdQjdQZdUl@ZqZqZqZu.?=) Mi9)顕iiIIqYex>ie!>ԙ9@ @@14@I IO%>E I E QE +E "E };*E A;VE [4ZE a @a @a @a @ 5,Ω1˻?ALe@e @eܭ=ٱeӋ6 AHRS rotation from veh to nav: [[-0.805574,-0.584877,-0.094704],[0.586396,-0.809906,0.013832],[-0.084791,-0.044392,0.995409]]eHCP>?S?@䴵d?ie@Ie7^;aY|ByZIi]Mb@Mb@Mb@YYYY Y9]v/?~jt/$Y]xi=y]D]]VA]GA ]GA)]&AYY]A u;ubD}VD}yT=%2=ٔTBQ->9Y=]FyE>Q 546?Q 94)LBY==Q E=+ B >B B IB {BB =B B DB ;B {9EĻ,wK˻?A2n@2 @2S5=ٱ2[86 :AHRS rotation from veh to nav: [[-0.803204,-0.588185,-0.094344],[0.589684,-0.807511,0.014093],[-0.084474,-0.044314,0.995440]]2Hٳ@j&?!܌?`@I?i2n@I2Y^;2CEBU EBVEB0E@"EBl;*EB;VEB4ZE@BEB%rj=ٔroQ-v>9tYt=v]Fytz>Ez>||Q 54~5?Q 9 4~@)~LBY y J?Q I ?~AhCI~,;i~:~4yɮ$AEDNOT Ignoring new targets: 34.35 m.hAhA*hA"hA hAgIfIfIfIdQdQjdQZdU@ZqZqZqZuJ?S5=) ii 9)   i i11I1I9 g>C5GMhAa9hAYrA) 9Y9@ @@/@IIO>ԁ ,Qe˻?A2eT@2J @2<ܫ=ٱ2E$5 :AHRS rotation from veh to nav: [[-0.801010,-0.591287,-0.093608],[0.592754,-0.805257,0.014273],[-0.083818,-0.044054,0.995507]]2H`@ ?:?uA@1?i2eT@I2D^;2CYn|BynIbDzVDzy~`=%H=ٔӺQ->9 Y = ]Fy  )E>Q 54 5?Q 9%4z) LBY!y%?Q I%?IhCIr;iL;ŀ4y)ɮ-@$A1YeDNOT Ignoring new targets: 34.35 m.haha*ha"ha hagafafifididijdqZdu% @ZZZZx?<ܫ=)  io9)顭}iiIIEi E^E'E"E~;*E ;VE'4ZEa@a@a@a@ԉ99@ @@@IIO> ,i5˻?AY5}By=IԱiMb@Mb@Mb@ 9Zd;O?V-/$Yj=yh )AYAbDVDܲy=%<=ٔQ->9Y=]FyE>Q 5 43?Q 9 44)KBY =Q E ;y u?Q I?VhCI ;i& ;f̀4yɮ#AEDNOT Ignoring new targets: 34.35 m.hAhI*hI"hI hIgIfQfYf]BdYdYjdaZde@Z=Z=Z@Zu?Q)Q ] i]9)Y]YiYiaaaIaIe9AAB>BBIB+|BB =B?DBB|;B^9E9@ @@O0@I)I9OMR>EJ ETE*E"E~;*E;VE(N4ZEBE%Va=ٔVTQ-V>9XYX=Z]FyXZE^>`Q 5b4b3?Q 9f4b$)bKBYdyf?Q If?bahCIb:ib:bӀ4yhɮn"AlDNOT Ignoring new targets: 34.35 m.hh*h"h h g f f f ddjdZd@ZZZZ?Ĩ=) gi9)iiIIiIA+99@ @@o0@IIO>iE K E pE -E "E ;*E );VE t4ZE a @a @a @a @ԡ %,˻?AG@@<=ٱQ2 EAHRS rotation from veh to nav: [[-0.795369,-0.599224,-0.091206],[0.600621,-0.799406,0.014338],[-0.081503,-0.043376,0.995729]]Hs,@LYH8?;]? Yݴo5?iG@IL,^;CYuq}By}IiiMb@Mb@Mb@ 9i|?5?B`"۹I +Y=yν9AvA )Y AbDVD:2y=%+=ٔߺQ->9Y=]Fyp߻E>Q 541?Q 94>)KBY >Q E;y1?Q I?thCI:i:܀4y ɮ A"A DNOT Ignoring new targets: 34.35 m.hh*h"h hgfffBddjdZd @Z >Z >Zh@Z1?<=)! %둿i%9))-q)i)i111I1I9ԙ'9I)} 9@y  @y @} 0@ I B >B B XIB |BB =B B B k;B M9EBe*CBe*CBaBe =BaCeʫ5I O > ,˻?A:*@:x@:I=ٱ:&2 FAHRS rotation from veh to nav: [[-0.793586,-0.601702,-0.090427],[0.603094,-0.797545,0.014127],[-0.080619,-0.043325,0.995803]]:H e $A`2&L?}?@y. ?i:*@I:L^;8YJ}ByJI R4%^u=ٔb-Q-b?9`Y`=f]FydfEEf?hQ 5n4j0?Q 9n4j)jKBYpyr?Q Ir?jhCIj@;ijn;j4ytɮv|!AtDNOT Ignoring new targets: 34.35 m.hh*h"h hgf!f!f!d!d)jd)Zd-S@ZIZIZIZM?]I=)Y eNjie9)aeaiaiiiiIiIq991@9 @9@=3@9IIIYOex>) 4,˻?A2lX@2 N@2O=ٱ22 :AHRS rotation from veh to nav: [[-0.792071,-0.603805,-0.089686],[0.605209,-0.795949,0.013700],[-0.079658,-0.043428,0.995876]]2H@X^R]? ix?@qd`)< 7?i2lX@I21^;0YB}ByFIbDNVDNyV<%VK=ٔVNQ-Z>9XYX=Z]FyX ԻE >Q 54/?Q 94F)KBYy~?Q I%?hCIU;i@;4y-Bɮ-7!A-KEUDNOT Ignoring new targets: 34.35 m.hQhY*hY"hY hYgYfYfafadadajdiZdm`@ZZZZ~?O=) ei9)顥riiII1EuI EuEu,Eq"Eu};*Eu3;VEug4ZEq=]9Y9@ @@/@II!O5>ԁ ,}̻?A,2{/@2%@2=ٱ2 2 >AHRS rotation from veh to nav: [[-0.790630,-0.605830,-0.088739],[0.607243,-0.794407,0.013200],[-0.078491,-0.043450,0.995967]]2H`L@bn?@ki? ? ?i2{/@I2^;2CYF}ByFIi\I^Ajonly read 3 of 4 data items for beam range. Device response is::RA, 0.00, 98.45, 90.80, 97.94 aj@aj aj@aj aj@aj aj@aj bDnVDnyv?=%vF=ٔz9Q-z>9xYx=~]Fy|~MƻE~>Q 5 4.?Q 9 4)KBQ A +:YQ E;y1?Q I?hCIH:i>4yɮ AB*** querying acoustic contact ***i iDNOT Ignoring new targets: 34.35 m.hh*h"h hgfffddjdZd\@e=)i mim9)額 iiIIi%>ԡBIAM<BU>BU)CBUIBU}BBQBQBQBUZ;BU;9E]9@Y @Y@Y@aIqIO:>Ey E}E}+Ey"Ey*E}:;VE} [4ZEyBE}.AHRS rotation from veh to nav: [[-0.789107,-0.607946,-0.087813],[0.609352,-0.792795,0.012895],[-0.077457,-0.043334,0.996054]]6H@^@@Ktz?^h?>Գ/?i6@I6x4^;6CYF}ByF)ILN@AbDRVDRk2yZ܃=%ZN=ٔZ+Q-Z>9\Y\\=b]Fy`bs׻Ef>dQ 5j4f-?Q 9j4f)fKBQ An :YlQ En^;yn?Q In?fhCIf ;if'M?fW4ytɮv8 AtDNOT Ignoring new targets: 34.35 m.hh*h"h hgff!f!d!d!jd!Zd- @Uʞ=)Q UoiUf9)Y]~KYiYiaaaIaIi(DAT read: user:49> BDAT read: Tx time:04:03:59.5811 $Ping request sent.E E E UE E "E Vz;*E \;VE ZE a @a @a @a @A } =} < checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251285r ,74̻?AF@FD@F0=ٱFf+0! MAHRS rotation from veh to nav: [[-0.787690,-0.609969,-0.086496],[0.611342,-0.791265,0.012704],[-0.076191,-0.042872,0.996171]]FH4݄$?@ R?;@N`?iF@IFn ^;FCY}By2IbD-VD-0y<%.=ٔF1Q->9Y=]Fy)E>Q 54,?Q 947)KBQ A9YQ E3;y?Q I?hCI;i?4yɮA DNOT Ignoring new targets: 34.35 m.h h *h "h  h g fffddjdZd@M0=)I MiM9)IMɈIiQiQYYIYIYIchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503026i 9@  @ @ @ I I O >BE >BA BE IBE [}BBE =BA BA BE 9;BE 9Eԙ W,N̻?AE&O E&FE&,E$"E&;*E&v;VE&g4ZE$BE&|@>@>_=ٱ>. JAHRS rotation from veh to nav: [[-0.786288,-0.611926,-0.085422],[0.613271,-0.789772,0.012579],[-0.075161,-0.042497,0.996265]]>H`F)@<޵?E‰?=¥h?i>|@I>:^;>CYR&~ByRLIyaa aa aa aa iMb@Mb@Mb@ 9n?Onÿ:vYV>yԼ )AYAbDVDy=%\=ٔ5Q->9Y=]FyһE>Q 544,?Q 94;)KBQ AT:YZR>Q E;y?Q I?hCI;i2;04yɮRADNOT Ignoring new targets: 34.35 m.hh*h"h hgfff%KBd!d!jd!Zd%5@=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755086ZUZR>ZUZR>ZUѮ@ZU?e_=)i mim>9)imiiiiqqyIyIyԡl9U9@Q @Q@U0@YIqIO>i I A checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007262 ,g̻?A2m@2 @2=%=ٱ2@@- :AHRS rotation from veh to nav: [[-0.784917,-0.613819,-0.084450],[0.615139,-0.788320,0.012460],[-0.074221,-0.042168,0.996350]]2H g~8?9?-`?i2m@I2^;0YB"~ByBII DFAbDNVDNyVA?%V]=ٔV:'Q-V>9XYX=Z]FyXZλE^>dQ 5j4f+?Q 9j4fA)fKBYhyj?Q Ij?fhCIf:ifB:f4y9ɮ=dA9DNOT Ignoring new targets: 34.35 m.hh*h"h hgfffddjdZds@ZiZiZiZm0?=%=) i9)顭iiIIbEjEd4rE#e0EUW EU@EU.EQ"EUT;*EUM;VEUـ4ZEQae@ae@ae@ae@Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259033uz91 9@  @ @ 0@ I! I1 O= >a i ,軁̻?A6o@6"e@6z=ٱ6ǵ, BAHRS rotation from veh to nav: [[-0.783793,-0.615407,-0.083325],[0.616726,-0.787088,0.011926],[-0.072924,-0.042041,0.996451]]6H jT@8?@/l?`_`?i6o@I6#3^;6CYF~ByJDIRchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.511023i%Mb@Mb@Mb@!!!! !9%/$?ʡEÿL7A`堿Y%1>y%%+%A! %A)%A!Y%AbD=VD=yM %M@=ٔMHQ-U>9QYQ=U]FyQ],E]>aQ 5m4e{+?Q 9m4e)eKBYmS>Q Em;yuM?Q Iu?eiCIe@:iej:e 4yyɮ}AyDNOT Ignoring new targets: 34.35 m.hh*h"h hgf1f9f=+Bd9dAjdAZdEt@ZeS>ZeS>Ze@Ze\M?z=) i9)顝 iiIIAA?AB>BBIB}BB =BBB;B8E 9@ @@/@I!I1O=/>aDYzDYEez Ee5Ee,Ea"Ee4;*Ee ;VEeg4ZEaBEe9)Y1=5]Fy15:E5>AQ 5M4ED+?Q 9U4Eݙ)E|KBYQyU?Q I]?EiCIE};iE]u;E4yiɮu-AqDNOT Ignoring new targets: 34.35 m.hh*h"h hgfffddjdZd` @Z Z Z Z ?-)=)) -̈́i-9)1ԑEOiiIIchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.01509999@ @@@IIO>>ԹE} ? E} FE} +Ey "E} t;*E} v;VE} [4ZEy a @a @a @a @e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266953 ,, r̻?A4<ɰ49iYq=u]Fy3E>Q 54+?Q 9%4)mKBY)y-?Q I-?+iCIMtI B >B B IB }BB B B B #;B 9E\3,.S̻?ADD<E+ E=E,E"Eb;*E;VEg4ZEBEy-t-D-AA-A -A)-AA)Y-AbDEVDEyU<%]D=ٔ]GQ-]>9aYa=e]FyaeEe>iQ 5u4m[*?Q 9u4m)mXKBY}_X>Q E}{;y}p?Q I}?m?iCIm] ;im;mG!4yɮAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770970]DNOT Ignoring new targets: 34.35 m.hYhY*hY"ha hagafafifmBdidijdZd E,"@Z_X>Z_X>ZSB@Zp?@=) i9)ii!!)I)IIqԙu9 9@  @ @ /@ I I) O= > BDAT read: Rx Time:04:04:02.0324  TRx dataTimestamp_ set to:1761537843.560079 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024008 9,1(̻?A2@2D@2e =ٱ2/ :AHRS rotation from veh to nav: [[-0.778449,-0.622577,-0.080097],[0.623978,-0.781387,0.009218],[-0.068326,-0.042803,0.996744]]2H %@; ? $?}@9꥿T?i2@I2];0PYf~ByfEIbDrVDrk1yv%zQ=ٔza5Q-z>9|Y|=~]Fy|ûE>Q 5 4)?Q 94j)CKBYy*?Q I?TiCIl:i:(4yɮ%A!MDNOT Ignoring new targets: 34.35 m.hIhI*hI"hI hIgQfQfQfQdYdYjdaZde"@ZZZZL*?e =) i9)页.ʵiiIIE51 E5;E5-E1"E52h;*E5 ;VE5t4ZE1aE@aE@aE@aE@-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274996E99@ @@/@I!IAOm>) V@,ͻ?A2@2=@2Q҉=ٱ2G/ :AHRS rotation from veh to nav: [[-0.777018,-0.624473,-0.079228],[0.625877,-0.779873,0.008739],[-0.067245,-0.042797,0.996818]]2HTIH.? ? 6`u饿`?i2@I2u^;2CZDAT read: 04:04:02.0324 LVL= 26976, 24049, 32754, 32755, AGC= 56, IDX= 447,-0.13, 2.523,-2.931, 1.532, 2.925, PHS=-0.300, 0.472,-1.437, RAW= 6.3, 15.0, CAL= 6.4, 18.6, ROT= 143.6, -18.6 ^Ygot valid direction response: 04:04:02.0324 LVL= 26976, 24049, 32754, 32755, AGC= 56, IDX= 447,-0.13, 2.523,-2.931, 1.532, 2.925, PHS=-0.300, 0.472,-1.437, RAW= 6.3, 15.0, CAL= 6.4, 18.6, ROT= 143.6, -18.6 bPDAT read: Bearing 89.7, 37.0 (Local) b~Local bearing/azimuth received: Bearing 89.7, 37.0 (Local) jDAT read: Range 11 to 50 : 35.3 m (Round-trip 47.1 ms) speed -0.3 m/s jR#Rx 1: Read range and direction messages.n^direction in FSK: [-0.762853,0.562424,0.318959]nFpublishing direction and range infoy@BʇJi_?ˬQi?YB3 B@B`iB]@ @)B8IBiB>B﷿Bz0=B >B= B6>)Bg @IB6@@BEؿCQK)j? B~)B}IBg @iB6@@|Y ~By%;IimMb@Mb@Mb@iiii i9mʡE?Mb&1Ym=ymmPmAmA mA)mpAiYm(AbDVD0y %,=ٔQ->9!Y!=%]Fy!%E%>)B<A<B>BBBB =BBB3;B9EBu)CBu)CBqBu =Bu =Cuü6Q 54-d)?Q 94-C)-)KBY9>Q E;y4?Q I?-iiCI-Z9>ZQ~@ZA4?MQ҉=)I MuiM9)IMfQiQiQYYIYIYIT?)c?EE. EE5EE*EA"EEye;*EE ;VEE(N4ZEABEEԉ F,vͻ?A2@2?@2=ٱ2/ :AHRS rotation from veh to nav: [[-0.775464,-0.626504,-0.078409],[0.627909,-0.778242,0.008295],[-0.066218,-0.042801,0.996887]]2HQ @? \?`꥿ ?i2@I2S ^;0YR~ByR5IbDfVDf1y=%En=ٔM DQ-M?9IYQ=U]FyQUYEe?iQ 5}4m3)?Q 94m)mKBYy?Q I?mxiCIm\G;imG;mr64yBɮABEDNOT Ignoring new targets: 35.14 m.hh*h"h hgfffddjdZd֪?ZZZZ? =)  Mxi9)HiiII!iߑIߑԉۺ9Թ59@1 @1@5K1@1IQIaOm>EU 7 EU :EU +EQ "EU m;*EU $ ;VEU [4ZEQ a] @a] @a] @a] @  M,o6ͻ?A2xX@2N@2Dž=ٱ2U/ :AHRS rotation from veh to nav: [[-0.773586,-0.628911,-0.077687],[0.630320,-0.776295,0.007899],[-0.065276,-0.042858,0.996947]]2H`8` P㳿+?i#-?鵰m`?i2xX@I2N^;0YB}ByB*IbDRVDR02yb)-%bR=ٔbQ-f>9dYd=f]FydjEj>lQ 5r4n)?Q 9r4n)nKBYpyr?Q Iv?niCIn;in;n.=4yxɮzAxԹDNOT Ignoring new targets: 35.14 m.hh*h"h h!g!f)fYfYdadijdqZdo ?ZQZQZQZU?mDž=)i m|i 9)顅iiII9B >B B IB }BB =B B B ;B 8EE 9@A  @E @A @A IQ Ii Ou >A E] M E] ;E] 0EY "E] ˀ;*E] ;VE] 4ZEY BE] Q=ٔuQ-u>9qYq=}]Fyy} E}>Q 54(?Q 94p)JBY>Q E;y?Q I?iCI:iE:D4yɮAeDNOT Ignoring new targets: 35.14 m.hahi*hi"hi higififqfuBdqdjdZd@?Z >Z >Z {@Z &?%F/=)! -^i-9))-#)i)i111I9I9 AA 9)9@ @@/@IIOC>Qԁ zZ,?qjͻ?A2@2l@2☂=ٱ23 :AHRS rotation from veh to nav: [[-0.769233,-0.634309,-0.077023],[0.635782,-0.771839,0.006740],[-0.063725,-0.043785,0.997007]]2H`ALȷSX?{?`GPj@z?i2@I2A^;0Yj}Byj)IbDzVDzy-%-P=ٔ5Q-5>91Y9==]Fy9EEE>IQ 5U4M(?Q 9]4M)MJBYYyeW?Q Ie?MiCIM<;iMv=;MK4yiɮuAqDNOT Ignoring new targets: 35.14 m.hh*h"h hgfffddjdZd`߇?ZZZZ-W? ☂=)   ai 9)  0iiIIqE E*E/E"Ea;*E;VEJ4ZEa%@a%@a%@a%@!9@ @@/@II1O=/>ԡ a,Jͻ?A6W@6@6+B=ٱ6'5 >AHRS rotation from veh to nav: [[-0.766758,-0.637330,-0.076769],[0.638830,-0.769322,0.006296],[-0.063073,-0.044215,0.997029]]6HG eLq?Hy?%`N?i6W@I6c^;6CYF}ByF#IA1A5AAB=>B9B=IB=}BB= =B9B9B=;B=8EiuMb@Mb@Mb@qqqq q9uZd;?T㥛 )\(Yuy=yuqqub A q)qqYu=AbDVDy☼%(=ٔRQ->9Y=]FyE>Q 54(?Q 94)JBY=Q E) 2g,1ͻ?ANc@NY@Nd=ٱN>7 ^AHRS rotation from veh to nav: [[-0.764235,-0.640388,-0.076475],[0.641911,-0.766756,0.005889],[-0.062409,-0.044589,0.997054]]NH`t~ߓ? D|x?`jԦ?iNc@INP^;NCYj}ByjI prA tvbDzVDzy%=ٔ  Q-  ?9 Y = ]FyME ?Q 5%4'?Q 9%49)JBY)y-?Q I-?iCI):iW:Y4y1ɮ5r A1DNOT Ignoring new targets: 35.14 m.hh*h"h hgfffddjdZd@ZiZiZiZmF?}d=)y }]i/9)顅MLiiII)9@ @!@%,0@!I1IAOM1>QbEg4jEp4rEȺv0E- E E- EE- *E) "E- Vz;*E- ;VE- (N4ZE) a= @a= @a= @a= @ԁ  %= %=Zm,6ͻ?A0:G$@:@:R}=ٱ:-8 FAHRS rotation from veh to nav: [[-0.761765,-0.643366,-0.076119],[0.644904,-0.764243,0.005547],[-0.061742,-0.044864,0.997083]]:Ha`s@|`?tv?v@?i:G$@I:e^;:CY^}By^IbDjVDjyzhe<%~L=ٔٺQ->9Y = ]Fy  +E >Q 54'?Q 94M)JBY!y%?Q I%?iCI7;iD;`4y)ɮ-[ A)uDNOT Ignoring new targets: 35.14 m.hyhy*h"h hgfffddjdZd O@ZQZQZQZU-?ԉR}=) =\iq9)顥ZiiII+9Y@Y @Y@]|0@YIiIO\>ԹB5 >B1 B5 IB5 z}BB1 B1 B1 B5 Ƃ;B5 8E E= 6 E= 4E= +E9 "E= l;*E= ;VE= [4ZE9 BE= K9Y=^FyE>Q 54'?Q 94)tJBYӢ=Q E&i>%9@! @!@%4@)IAIYOmW>9i߉ Iߍ Aa mz,ͻ?A>آ @>v@>olx=ٱ>V9 JAHRS rotation from veh to nav: [[-0.756699,-0.649394,-0.075456],[0.650947,-0.759106,0.005134],[-0.060613,-0.045232,0.997136]]>H@6Q@?Ju? (?i>آ @I>v^;>CYV}ByVIIZ<)Zp;bDfVDfβynk%ri=ٔr"Q-r?9tYt=v^FytzXAEz?9yQ 54}'?Q 94})}aJBYy?Q I?}iCI} :i}:}n4yɮm ADNOT Ignoring new targets: 35.14 m.hh*h"h hgfffddjdZdn @ZZZZ?olx=) Li 9)  s i iIIED E7E,E"Eny;*E ;VEg4ZEa@a@a@a@a99ԙ59@1 @9@=4@9IyIO>Թ (T,λ?A6V @6!L@6Hw=ٱ6t8 BAHRS rotation from veh to nav: [[-0.753671,-0.652948,-0.075095],[0.654477,-0.756063,0.005450],[-0.060336,-0.045040,0.997161]]6Hr9x?@14Sv?P䮿 ?i6V @I6o^;6CY^}BybIiMMb@Mb@Mb@IIII I9My&1?S㥛{GzYM`e9Y=^Fy/0E>Q 54V(?Q 94)PJBYM=Q EBBIBp}BBBBBς;B8EEG E EE"E&|;*E:VEZEBE ,tλ?A> @>X@>u=ٱ>H8 NAHRS rotation from veh to nav: [[-0.750853,-0.656232,-0.074693],[0.657742,-0.753223,0.005638],[-0.059960,-0.044895,0.997191]]>H 8 ?`f5w?y?i> @I>,h^;>CYV}ByV*IbD^VD^Nyfm=%f\=ٔfQ-j>9hYh=j^Fyhnd>En>pQ 5v4r(?Q 9v4rf)rAJBYtyv;?Q Iz?riCIr:ir:r|4y|ɮ~A|%DNOT Ignoring new targets: 35.14 m.h)h)*h)"h) h)g)f)f1f1d1d9jd9Zd=`E@ZYZYZYZ]a;?mu=)i uY5iu9)quWqiqiyyIIIa?)?)}99@ @@/@IIO>IE H E pE -E "E };*E );VE t4ZE a @a @a @a @y f,H9λ?A2s @2@2nt=ٱ2O7 :AHRS rotation from veh to nav: [[-0.748120,-0.659393,-0.074273],[0.660878,-0.750470,0.005916],[-0.059641,-0.044659,0.997220]]2H %?;x? 8`ݦ:?i2s @I2l^;2CYB~ByF7I DDbDNVDN0yN=%G=ٔ 5LQ- >9 Y =^Fy0&E>Q 5%4)?Q 9-4)0JBY1y5?Q I=?iCI;i;탁4yQɮUAQDNOT Ignoring new targets: 35.14 m.hh*h"h hgfffddjdZd@@ZZZZs?Ynt=)  0i9) i i9AIIqIyԁ)ԱB>BBIBz}BB =BBB;B8EBBBBBC>5 9@  @ @ @ I I O > E  E eE .E "E *E #;VE ـ4ZE BE f=ٔ}Q->9Y=^Fy E>Q 54)?Q 94)"JBY% J=Q E%Y ,mλ?ABT @BI@Bp=ٱB6 RAHRS rotation from veh to nav: [[-0.743322,-0.664894,-0.073407],[0.666345,-0.745619,0.006113],[-0.058798,-0.044371,0.997283]]BH@KF`ʲ R? y?`@÷?iBT @IBQ^;BCYZ.~ByZQIbDbVDbyj<%j\=ٔnʖQ-n>9lYp=r^FyprEr>tQ 5z4v+)?Q 9z4vL)vJBY|y~?Q I~?viCIv;iv;v4yɮA-DNOT Ignoring new targets: 35.14 m.h1h1*h1"h1 h1g1f9f9f9d9dAjdAZdE @ZZZZz?Up=)Q U8iUE9)Y]ҖYiYiaaaIaIi gAEX E.E-E"EɅ;*E;VEt4ZEa@a@a@a@)Y-99@ @@/@I I O >9,'چλ?A: @:k@: n=ٱ:5 FAHRS rotation from veh to nav: [[-0.741265,-0.667251,-0.072818],[0.668695,-0.743513,0.005907],[-0.058083,-0.044314,0.997328]]:HpZ7`e?@s2x?@Y?i: @I:p7^;:CYNP~ByNeIPi-Mb@Mb@Mb@)))) )9-L7A`?MbZd;OY-+=y-@-j-A) ))-A)Y-AbDEVDE:yUy=%UC=ٔU6Q-U>9YYY=]^FyYeEe>iQ 5u4mx)?Q 9u4m)m JBYuc}=Q EuVByB}IB}}BB} =ByByB} ;B}8EZc}=Zc}=Zb@Z? n=) 33i`9)%!i!i!))I)I1 99@ @@4@IIOB>E E@E.E"Eɬ;*EM;VEـ4ZEBE =a2E =aJEq9||Y|=^Fy E> Q 54 )?Q 94 ) JBYy?Q I? iCI ;i  ;  4y!ɮ%A)UDNOT Ignoring new targets: 35.14 m.hQhQ*hQ"hQ hQgQfYfYfYdadajdaZde@ZZZZz?k=) ?(i9)iiIIi1I5A)9Y9@ @@@IIO>EA EAE-E"Ev;*E;VEt4ZEa@a@a@a@ԁ ,Őλ?A2d @2@2i=ٱ25 :AHRS rotation from veh to nav: [[-0.737237,-0.671787,-0.072000],[0.673220,-0.739421,0.005711],[-0.057075,-0.044261,0.997388]]2H@q H@n?@U0dw?8o?i2d @I2U^;0Y^~BybIbDjVDjN2yrڗ=%rK=ٔr)Q-r>9tYt=v^Fytv|Ez>xYQ 5e4z*?Q 9e4z{)zIBYaye-?Q Ie?ziCIzclByB}'IB}}BB} =ByByB};B}a9E% 9@!  @! @- 4@) I9 II OU > E J E E ,E "E ~;*E X;VE g4ZE BE 9Y=^Fy!%E%>)Q 554-*?Q 954-B)-IBY=H=Q E=;y=Q?Q I=?-iCI-P ;i- ;-4yAɮENAAmDNOT Ignoring new targets: 35.14 m.hihq*hq"hq hqgqfyfyf}BdydjdZd ]@ZH=ZH=Zh@Z8Q?) +i9)顽iiII99@ @@/@IIO>! ,Hλ?AY~~By~IbDVD0y =%%]=ٔ!Q-%>9)Y)=-^Fy))E->1Q 5M45(*?Q 9U45@)5IBYayaQ Im?5jCI57;i5;5e4yqɮuAqDNOT Ignoring new targets: 35.14 m.hh*h"h hgfffddjdZd`@ZZZZ) O(i9)#iiIIbE=t4jE=†s4rE=b/E= EE/E"Es;*EIK;VEJ4ZEa@a@a@a@59@9 @A@E/@AIIO >I 2,1ϻ?A6RP @6E@6A^=ٱ6Y3 >AHRS rotation from veh to nav: [[-0.732849,-0.676822,-0.069608],[0.678214,-0.734848,0.004778],[-0.054385,-0.043707,0.997563]]6H sѱ?[s?`cث`@ ?i6RP @I6]^;6CYZ~By^IiMb@Mb@Mb@ 9sh|??MbXy&1Y=yʽ`eA  A)GAYAbDVD1y2=%@=ٔ.ϻQ->9Y=^FyE>Q 54j*?Q 94)IBY>Q E;y?Q I?jCI:i ;ؼ4yɮAB<AB>BBYIB;~BB =BBB;B9EEDNOT Ignoring new targets: 35.14 m.hAhA*hA"hA hAgAfIfIfMBdQdQjdQZdUH @Z>Z>Z@ZI?A^=)! -G!i-9))-+)i)i111I1I9 AAI}9)A}?9YAE? E6E,E"Et;*E ;VEg4ZEBEXqԡ ,/!ϻ?A21 @2&@2Z=ٱ2a2 :AHRS rotation from veh to nav: [[-0.731594,-0.678269,-0.068708],[0.679649,-0.733525,0.004366],[-0.053360,-0.043504,0.997627]]2H 8ia@ۖ ?yq?RF?i21 @I2ه^;2C@Y^BybIIf4=)f=bDhVDhyr=%rZ=ٔv3Q-v>9tYt=v^Fytz,Ez>|Q 54~*?Q 9 4~~)~IBYy?Q I%?~ jCI~;i~c;~aÁ4y9ɮ0ADNOT Ignoring new targets: 35.14 m.hh*h"h hgfffddjdZd@X!@ZZZZ?-Z=)) -Si-9)151i1i999I9IAԩ}99@ @@/@I!I1OE>E8 EQE/E"En;*EA;VEJ4ZEa@a@a@a@ F,;ϻ?A2V @2@2T=ٱ2 g2 :AHRS rotation from veh to nav: [[-0.730663,-0.679377,-0.067667],[0.680758,-0.732500,0.003534],[-0.051967,-0.043483,0.997702]]2HatR?pl?d]C ,?i2V @I2a^;2CYB1ByBIbDNVDN0yVrl=%VN=ٔVxfQ-V>9XYX=Z^FyXZ=oE^>`Q 5b4b*?Q 9f4b0})bIBYdyf?Q If?b-jCIbF;ibc;bQʁ4py|ɮA UDNOT Ignoring new targets: 35.14 m.hQhY*hY"hY hYgafafifididijdqZdu!@ZZZZ?UT=)Y ]vie9)imUiiiII1QB->B)B-IB-~BB- =B)B)B-;B-9E @  @ @ @ I I) O= >a E 6 E 2E ,E "E l;*E ;VE g4ZE BE K9Y=^FyE>Q 54*?Q 944{)IBY/>Q E;y?Q I?@jCI]:i*;ҁ4yɮADNOT Ignoring new targets: 35.14 m.hh*h"h hgfffBddjdZd<"@Z/>Z/>Z{f@Zm?JO=) #i9)ii!!!I)IIIU0?)U?iԑ9I)i) I- Am 9@i  @i @m _0@i I I O > ?W,oϻ?A2 @2@2I=ٱ2.4 :AHRS rotation from veh to nav: [[-0.728628,-0.681725,-0.065973],[0.683136,-0.730289,0.001575],[-0.049253,-0.043922,0.997820]]2HP@㰿@?^Y?7 |$?i2 @I2ݚ^;0YBrByBI DDbDJVDJyVA=%V_=ٔVAQ-V>9\Y`=f^Fyd-tE5>1Q 5E45*?Q 9E45|y)5IBYAyEu?Q IE?5QjCI52;i5w;5؁4yQɮUAQ}DNOT Ignoring new targets: 35.14 m.hyhy*hy"h hgfffddjdZdu#@ԙZZZZu?I=) jiD9)fiiIIE< EIEE"E,r;*E ;VEZEa@a@a@a@y9@ @@4@IIIyO> >,jϻ?A2 @2@2%C=ٱ2J5 :AHRS rotation from veh to nav: [[-0.727714,-0.682784,-0.065100],[0.684213,-0.729282,0.000477],[-0.047802,-0.044196,0.997879]]2HoI ^l@?GVy}b}}A}A } A)}AyY} AbDVDNy"c<%;=ٔNZQ->9Y=^Fy]VE>A@AAB>BBIB~BB =BBB;Bw9EBBBB =BCy5Q 54*?Q 94Tw)IBY@F>Q E;y?Q I?fjCI:i:$4yɮA-DNOT Ignoring new targets: 35.14 m.h)h)*h)"h) h1g1f9f9f=ڀBdAdAjdAZdEP$@Ze@F>Ze@F>Ze@Ze?}%C=)y }\i}19)y}0iiII9!e9@a @a@e/@aIqIO:>ED EEE"Eny;*E3;VEZEBECAHRS rotation from veh to nav: [[-0.726879,-0.683769,-0.064075],[0.685206,-0.728349,-0.000626],[-0.046241,-0.044360,0.997945]]2HB p@@g 6?ND 笧a *?i2 @I2Ŏ^;0YR|ByVIbD^VD^:2yf<<%fY=ٔfQ-f>9hYh=j^FyhnaEn>pQ 5r4r*?Q 9v4rsu)rIBYtyv`?Q Iv?rxjCIr:irB:r4y|ɮ~A|%DNOT Ignoring new targets: 35.14 m.h!h!*h!"h! h)g)f)f)f1d1d1jd1Zd=R%@ZYZYZYZ](`?mx==)i m@im{9)iuܴqiqiyyyIyI fAQy19>i>U9@Q @Q@U/@QIaIqO{>EW EFE-E"ET;*Ev;VEt4ZEa@a@a@a@Թ Ԓ,: ϻ?Aj @j@j"0=ٱjb5 zAHRS rotation from veh to nav: [[-0.725035,-0.685950,-0.061624],[0.687369,-0.726304,-0.002579],[-0.042989,-0.044228,0.998096]]jH |3L 1?= e` g?ij @Ij^;hY By +II=)bD-VD-:y=K=%=C=ٔEQ-E>9AYI=M^FyIM޻EM>QQ 5]4U+?Q 9]4UUs)UIBYaye ?Q Ie?UjCIU;iU ;U4yiɮmPAiDNOT Ignoring new targets: 35.14 m.hh*h"h hgfffddjdZd`T%@ZZZZ ?"0=) ih9)EiiIIqԹB>BBIB%BB =BBB;Ba9EU9@Q @Q@Q@QIaIqO> D D R=E 1 E 1E E "E 2h;*E f;VE ZE BE `yntA K A)YbDVDٔrQ->9Y=^Fy^E>Q 54*?Q 94p)IBYZ>Q Ey;yt?Q I?jCI7:i:O4yɮ%DNOT Ignoring new targets: 35.14 m.h!h!*h!"h! h!g)f)f)f-Bd1d1jd1Zd=P&@ZUZ>ZUZ>ZU7@ZU9t?m޼)=)i m[im9)imR6qiiII95R99@ @@@II O >i ,,ϻ?A$FZ @F6P@F#=ٱF7 NAHRS rotation from veh to nav: [[-0.723088,-0.688170,-0.059715],[0.689600,-0.724175,-0.004793],[-0.039945,-0.044645,0.998204]]FH #|``3?q,ss`ۦI?iFZ @IF^;FCYVByV/IbD^VD^Jyf;%f<ٔjQ-j>9hYh=j^FyhnEn>pQ 5v4r:*?Q 9v4rn)rIBYtyzF?Q Iz?rjCIr:ir:r4y~Bɮ~A~8E-DNOT Ignoring new targets: 35.14 m.h)h)*h)"h) h)g)f1f1f1d1d9jdZd'@ZZZZJF?-#=)) - i-9))5Y1i1iYYYIYIYIeF?)e6?E6 E;E)E"El;*E ;VEFA4ZEa@a@a@a@qԙ@9q@y @y@/@IIO (, л?ABA @Bn7@BT=ٱB?8 JAHRS rotation from veh to nav: [[-0.722088,-0.689300,-0.058774],[0.690734,-0.723084,-0.005944],[-0.038401,-0.044889,0.998254]]BHX?`#Xx`W?iBA @LIBZ^;BCYVByV7I XXi5Mb@Mb@Mb@1111 195/$?@5^I ¿y5b5t5A5A 55 A)5A1Y5 AbDMVDM3BYA]<Be>Be(CBeIBeMBBe =BaBaBet;BeM9Ey}<%}?=ٔ}AmQ->9Y=^Fy;hE>Q 54p)?Q 94}l)IBYc>Q En;y?Q I?jCIZc>Zݷ@Z?T=) %i%9)!%|!i!iIiiIiIqEl EFE-E"Eڎ;*Ev;VEt4ZEBE! ǻ,$л?A6N% @6@6r=ٱ6hE9 JAHRS rotation from veh to nav: [[-0.720918,-0.690579,-0.058129],[0.692021,-0.721844,-0.006879],[-0.037210,-0.045185,0.998285]]6H`8í %?Y-|! "@?i6N% @I6H^;6CYRByR%IbD^VD^1yb%fV=ٔfLQ-f>9hYh=j^Fyhn3En>pQ 5r4r(?Q 9v4rKj)r|IBYtyv?Q Iv?rjCIr:xir:r 4y|ɮ~$A|-DNOT Ignoring new targets: 35.14 m.h)h)*h)"h) h)g)f1f1f1d9d9jd9Zd=)@ZYZYZYZ]8?ur=)q uO iu9)qu掵qiyiyyII!`9M9@I @I@U4@QQIaIqO{>bE ^n4jE m4rE p/EN ExEE"E@;*E-;VEZEa@a@a@a@ԁ %,q>л?AF @F@F=ٱF: RAHRS rotation from veh to nav: [[-0.720059,-0.691541,-0.057323],[0.692989,-0.720903,-0.008009],[-0.035785,-0.045491,0.998324]]FH `!`Y,?@ gwRJ@D?iF @IFP^;FCYVByV3IbDbVDbk1yj;_=%jJ=ٔjfQ-j>9Y=^Fy%ME%>!Q 5-4%'?Q 954%g)%mIBY1y5?QQ I]?%jCI%;i%;%%4yaɮeAaDNOT Ignoring new targets: 35.14 m.hh*h"h hgfffddjdZd)@ZZZZ?%=)) -i-S9))-h1i1i999I9I9 AAԉ5r9IA)AB]>BYB]IB]bBB] =BYBYB]Q;B])9EԱ9@ @@/@IIO> u g>u C G  - ،9) Y- Ay =? A E @ E <E .E "E u;*E 1;VE ـ4ZE BE !AHRS rotation from veh to nav: [[-0.719091,-0.692623,-0.056401],[0.694059,-0.719864,-0.008822],[-0.034490,-0.045489,0.998369]]2H )`ି5? a cJ?i2w @I25^;2CYFByF!IIJ<)J4<===4=ieMb@Mb@Mb@aaaa a9eS㥛?T㥛 ~jtYe$>yeeae|A e A)eAaYe AbD}VD}:2yŠ%?=ٔFQ->9Y=^FyaE>Q 54'?Q 94e)\IBYT>Q E;y?Q I?kCI<:i#:x4Թyɮ@ADNOT Ignoring new targets: 35.14 m.hh*h"h hgfffBddjdZd*@Z%T>Z%T>Z%ϳ@Z%?5L =)1 5i=9)9=I9i9iAAAIAII599@ @@@II)O5.>9 !,+rл?A2O @2@2V=ٱ29 :AHRS rotation from veh to nav: [[-0.717927,-0.693908,-0.055434],[0.695323,-0.718636,-0.009450],[-0.033280,-0.045329,0.998418]]2HA@~4a@@? Z` `5 ?i2O @I2!Q^;2CYB|ByBIbDN VDNf2yR+b%VY=ٔVASQ-V>9XYX=Z^FyX^ٕE^>`Q 5f4b=&?Q 9f4bc)bNIBYdyfh?Q If?b&kCIb':ibv:b 4ylɮnUAlDNOT Ignoring new targets: 35.14 m.hh*h"h  h g f f fddjdZd@ +@Z9Z9Z9Z=h?MV=)I MiM)9)QUQiQiYYYIYIaEU> EU.EU,EQ"EUs;*EU;VEUg4ZEQae@ae@ae@ae@9}9@ @@@I!I1OEs>iԑ ",л?A2 @2@2n=ٱ2~88 :AHRS rotation from veh to nav: [[-0.716535,-0.695418,-0.054510],[0.696801,-0.717199,-0.009705],[-0.032345,-0.044937,0.998466]]2H @諿 1L?Kv`o?i2 @I2z8^;0YZsByZIAA@AB>BBIBWBB =BBB&;B8EiUMb@Mb@Mb@QQQQ Q9Uףp= ?"~jˡEYU>yUS㽙U'UGAUA U5 A)U AQYU AbDmVDm1y}N%}>=ٔDQ->9Y=^FyE>Q 54%?Q 94a)Q E;yf?Q I?;kCI ;i" ;&4yɮyADNOT Ignoring new targets: 35.14 m.hh*h"h hgfffBddjdZdi_,@Z G>Z G>Z ,@Z f?qn=) Gi9)εiiIII=?)H?Em0 Em5Em.Ei"EmJg;*Em ;VEmـ4ZEiBEmi%>9@ @@@IIO > ),_ԥл?A2m @2 @2=ٱ2>8 :AHRS rotation from veh to nav: [[-0.715295,-0.696741,-0.053903],[0.698114,-0.715914,-0.010226],[-0.031465,-0.044944,0.998494]]2H @K V?1`, `?i2m @I2z`^;0YByByBI DFAbDNVDNkyV<%VY=ٔV6Q-V>9XYX=Z^FyX^(E^>`Q 5f4b$?Q 9f4b_)b,IBYdyf.?Q If?bMkCIb:ibg:b%-4ylɮn^AlDNOT Ignoring new targets: 35.14 m.hh*h"h hgfffddjdZdy(-@ZZZZ.? =)  ݾiI9)5jܵ1i1i999IAIA}99@ @@/@I!I1OE>EuE EuGEu+Eq"EuVz;*Eu;VEu [4ZEqa}@a@a@a@I e %=e R=//,л?A2{ @2q@2i<ٱ208 >AHRS rotation from veh to nav: [[-0.713884,-0.698224,-0.053414],[0.699591,-0.714463,-0.010709],[-0.030685,-0.045012,0.998515]]2H@#W Y c?@\ k@ ?i2{ @I2C^;0YF[ByF IbDNVDNNyVΔ%VJ=ٔZQ-Z>9XYX=Z^Fy\^E^>`Q 5f4b #?Q 9f4b])bIBYhyj?Q Ij?bakCIb :ib:b644ylɮnAl DNOT Ignoring new targets: 35.14 m.h h *h "h  h g fffddjdZde-@ZZZZ?i<) i9)Q뵉iiII!YyBBBIBCBB =BBB;B8EB(CB(CBB =BC6m9@q @q@u_0@qIIO>ԩ D} =D} <E F E cE E "E >{;*E ";VE ZE BE y5Q5#5A1 5 A)11Y1bDMVDMJy] %e>=ٔe˺Q-e>9iYi=m^FyimIEm>qQ 54u!?Q 94u[)u IBY+>Q E;y?Q I ?uskCIuZ+>Z>@Z ?M<)Q UGiU9)QUWQiYiYYaIaIaԉ iq9@ @@e4@II!O-O>Թ YA<,fл?A27 @2,@2<ٱ2: :AHRS rotation from veh to nav: [[-0.710962,-0.701231,-0.052991],[0.702610,-0.711480,-0.011653],[-0.029530,-0.045517,0.998527]]2H3{p@!{?@q݇@:=M?i27 @I2Ba^;0YNLByRIlbDZVDZܲy%%%P=ٔ%Q-%>9)Y)=-^Fy)-PE5>1Q 5=45 ?Q 9E45>Z)5HBYAyEv?Q IE?5kCI5:i5:5B4yIɮMAQ}DNOT Ignoring new targets: 35.14 m.hyhy*hy"hy hygyfffddjdZd@o/@ZZZZ2v?<) ic9) iiIIE=I E=>E=,E9"E=};*E=?;VE=g4ZE9aM@aM@aM@aM@ 9Au9@q @y@}2@yIIO>q (C,@ ѻ?A2 @20 @2Tu<ٱ2x: :AHRS rotation from veh to nav: [[-0.709492,-0.702742,-0.052679],[0.704117,-0.709983,-0.011979],[-0.028983,-0.045591,0.998540]]2H( | ?- W` ?i2 @I2AH^;2CYBBByBIBR<AR4=BV>BTBVIBV/BBV =BTBTBV݂;BV8Ei-Mb@Mb@Mb@)))) )9-&1?+~jtY-=y---1A-fA -Ay)))Y- AbD VD2y)%@=ٔQ->9Y=^Fy硻E>Q 54W ?Q 94X)HBY >Q E;y?Q I?kCI;i`; J4yɮ;A-DNOT Ignoring new targets: 35.14 m.h)h)*h)"h) h)g1f1f9f=cBd9d9jd9ZdE70@Z] >Z] >Z]+@Z]?uTu<)q u¾iuw9)y}] yiyiIIԡEM EMZEM-EI"EMX;*EM;VEMt4ZEIBEM=aU2EM=aUJEM 7VI,J)'ѻ?A2@2@2<ٱ2: :AHRS rotation from veh to nav: [[-0.708098,-0.704170,-0.052366],[0.705537,-0.708569,-0.012152],[-0.028548,-0.045551,0.998554]]2H@Ϫ`“?7㈿;R'?i2@I2I]^;2CYB/ByBIbDJVDJyRJ%R_=ٔVRQ-V>9TYT=V^FyXZEZ>\Q 5b4^?Q 9b4^W)^HBY`yfV?Q If?^kCI^:i^:^rP4yhɮjAhDNOT Ignoring new targets: 35.14 m.hh*h"h hgff f d d jdZdC0@Z1Z1Z1Z5V?E<)A M˾iM9)IMIiIiQYYIYIYIeG?)et?9I)59@1 @1@5/@1IAIQOew>)EUG EUHEU.EQ"EU&|;*EU;VEUـ4ZEQa]@a]@a]@a]@Y :P,@ѻ?A@:{@:@:R|<ٱ:9 FAHRS rotation from veh to nav: [[-0.706574,-0.705723,-0.052037],[0.707075,-0.707036,-0.012099],[-0.028254,-0.045343,0.998572]]:HA@HZ? ?Lj.7M?i:{@I:C^;:CYJ3ByNI R;R4<bDVVDV:y^;%^I=ٔb=Q-b>9`Y`=f^FydfEf>hQ 5n4jZ?Q 9n4j7V)jHBYpyr?Q Ir?jkCIj;ij#;jW4ytɮvyAtDNOT Ignoring new targets: 35.14 m.hh*h"h hgf!f!f!d!d)jd)Zd-K0@ZIZIZIZMB?]R|<)a eMʾie9)aeaiiiiiqIqIq1i9BBBIBBB =BBB;B8EU9@Y @Y@]/@YIiIyO|>ԉEe : Ee @Ee 0Ea "Ee \p;*Ee M;VEe 4ZEa BEe m9Y=^FyE>Q 54?Q 94U)HBY=Q Ee;iud;3_4y ɮ A =DNOT Ignoring new targets: 35.14 m.h9h9*h9"h9 h9gAfAfAfE8BdIdIjdIZdM9n1@ԑZ=Z=ZLg@Zǎ?=<)9 =ףiE9)AEyAiAiIiiIiIqM9@ @@_0@IIOK> 7\,tѻ?A2@21@2B<ٱ2Xw8 :AHRS rotation from veh to nav: [[-0.705020,-0.707283,-0.051939],[0.708618,-0.705497,-0.011627],[-0.028420,-0.045002,0.998583]]2H˗@?m@χ` `c?i2@I2n^;2CY^By^IbDjVDjyr'%rY=ٔrz9Q-r>9tYt=v^FytvKEz>xQ 5~4z?Q 94z*T)zHBYyh?Q I?zkCIz;izL;ze4y ɮADNOT Ignoring new targets: 35.14 m.hh*h"h hgfffddjdZd1@bEjEs4rEn/EA ENE,E"Ev;*E;VEg4ZEa-@a-@a-@a-@ZiZiZiZmh?B<) i9)額!iiII e9@a @a@e4@aIqIO:>I wc,ѻ?AA A"AAB&>B$B&IB&BB& =B$B$B&;B&8EY~3ByII=);iMb@Mb@Mb@ 9Q?Zd;OQ롿Y\=yj<\x A ) AYG AbDVDy5A=EG%M7=YٔmQ-m>q9Y?9YA=^FyE>Q 54?Q 94*S)HBY=Q Eԩ i,Ncѻ?A6}@6s@6F]<ٱ6*8@ BAHRS rotation from veh to nav: [[-0.703004,-0.709298,-0.051793],[0.710625,-0.703476,-0.011556],[-0.028239,-0.044929,0.998591]]6H`@`q?`߂~ꜿu?i6}@I6^;6CYJCByJIbDRVDRNyZj.=%Zf=ٔ^\Q-^>9`Y`=b^Fy`b[Eb?dQ 5j4f?Q 9j4flR)fHBYlyn?Q In?fkCIf ;if;fs4ypɮv8AtDNOT Ignoring new targets: 35.14 m.hh*h"h hgfff!d!d!jd!Zd%ٚ2@ZAZAZAZE.?]F]<)Y ]i]9)aeF*aiaiiiiIiIi]9i߉I߉ԩ9@ @@/@IIO >E=? E=eE=,E9"E=t;*E=#;VE=g4ZE9aE@aM@aM@aM@ p,>ѻ?A2a`@2U@2<ٱ2dž8 :AHRS rotation from veh to nav: [[-0.701721,-0.710563,-0.051852],[0.711893,-0.702193,-0.011549],[-0.028203,-0.045017,0.998588]]2HtP?\x@``᜿ n?i2a`@I2sh_;0YfNByfIlbDrVDryz<%zG=ٔzʹQ-z>9|Y|=~^Fy|E> Q 54  ?Q 94 Q) HBYy?Q I? kCI `:i : z4y!ɮ% A!MDNOT Ignoring new targets: 35.14 m.hIhI*hI"hQ hQgQfQfQfYdYdYjdYZde@,3@ZZZZl?<) iU9)顝l.iiIII:?)d?#99@ @@@II9O]3>BE>BABABABE =BABABEׂ;BE8E1a EE F EE /EE )EA "EE >{;*EE Y;VEE FA4ZEA BEE 9 Y=^Fy_{E>Q 5%4?Q 9-4P)xHBY-=Q E-< G|,ѻ?A2#@2h@2m<ٱ2g9 :AHRS rotation from veh to nav: [[-0.699088,-0.713149,-0.051907],[0.714487,-0.699551,-0.011651],[-0.028003,-0.045232,0.998584]]2H^ ? bk܇ɬ(`f?i2#@I2p6`;2CYB]ByB IbDNVDNyV&<%Vd=ٔVQ-V>9XYX=Z^FyX^E^>`Q 5f4b_?Q 9f4b3P)bnHBYdyf?Q If?bkCIb>:ib:b눂4ylɮnAlDNOT Ignoring new targets: 35.14 m.hh*h "h  h g f ffddjdZd 3@Z1Z1Z1Z5?Mm<)I M\iM9)QU7QiQԙiIIED E8E-E"Eny;*E ;VEt4ZEa@a@a@a@]U99@ @@@II!O->! B= <A= <BE >BA BE IBE BBE =BA BA BE ւ;BE 8EbŃ,һ?AB1B1B1B1B5 =C5i5V@VG@VS<ٱVjb9 ^AHRS rotation from veh to nav: [[-0.697731,-0.714482,-0.051831],[0.715817,-0.698191,-0.011645],[-0.027868,-0.045227,0.998588]]VHS@?W@ه ~@'n?iV@IVn`;TYf|ByfIiUMb@Mb@Mb@QQQQ Q9U=ٔ}Q-}>9Y=^FyE>Q 54h?Q 94O)eHBY_]=Q EuQԁ =,)һ?A2@2@2f<ٱ28 :AHRS rotation from veh to nav: [[-0.696168,-0.716006,-0.051825],[0.717335,-0.696634,-0.011428],[-0.027921,-0.045131,0.998591]]2HGˆi?JUg@9`nt?i2@I2V/`;2CYRByR0IIV<)V4=XZAAbDZVDZy *=% R=ٔ  9Q- >9Y=^FymE>!Q 5-4%p?Q 9-4%O)%^HBY1y5o?Q I5?%kCI%;i%2*;%@4yAɮEAADNOT Ignoring new targets: 35.14 m.hh*h"h hgfffddjdZd@4@ZZZZo?f<) Xi9)i>iiIIԙd99@ @@4@IIO&>E= E7E,E"Es;*E ;VEg4ZEa%@a%@a%@a%@ = = %א,bCһ?A2n@2 @2 <ٱ2Ӧ8 :AHRS rotation from veh to nav: [[-0.694745,-0.717394,-0.051727],[0.718717,-0.695210,-0.011330],[-0.027833,-0.045048,0.998597]]2HY;{?)?4 E@?i2n@I2<`;2CYRByR>IbDZVDZ:ybZd=%bO=ٔf[hQ-f>9dYd=f^FydjEj>lQ 5r4nz?Q 9r4nN)nVHBYpyv0?Q Iv?nkCIn;in:n'4yxɮz2AxDNOT Ignoring new targets: 35.14 m.hh*h"h hgfffddjdZd 5@Z Z Z Z '0?% <)! %Ai%]9)!-A)i)i)11I1IQ-9@ @@3@I I1OU2>BBBIBCBBBBBނ;B8E1I E% F E% FE! E! "E% >{;*E% v;VE! ZE! BE% 9Y=^FyE>Q 54?Q 94M)NHBY+=Q E(U9@Q @Q@U4@QIaiqIuAIO> Y+,u9\`Y`=b^Fy`f3Ef>dQ 5j4f?Q 9n4fL)fGHBYlyn?Q In?flCIf;if;f?4ytɮvAtDNOT Ignoring new targets: 35.14 m.hh*h"h hgff!f!d!d!jd!Zd-G5@ZAZAZAZE?]J6<)Y ]i]9)aeFaiaiiiiIiIqE= E=TE='E9"E=՘;*E=;VE='4ZE9aM@aM@aM@aM@=&99@ @@/@IIO > PExceeded connect timeout, disconnecting.Q A A @AB B B IB vBB B B B ;B 8El,nһ?A2l@2a@2߬<ٱ2$8 :AHRS rotation from veh to nav: [[-0.691045,-0.720980,-0.051427],[0.722296,-0.691489,-0.011458],[-0.027301,-0.045063,0.998611]]2H` DT ? @w@ ?i2l@I27`;2CYRByRIiMb@Mb@Mb@ 9i|?5?T㥛 {GztYq=yף AA ) AYbDVD1y=%<=ٔe:Q->9Y=^Fy}YE>Q 54?Q 94K)EHBY=Q Eԡ <,һ?AyY"ByIbDVDy=%H=ٔQ->9Y=^FyE>Q 54+?Q 94K)DHBYyQ I?lCIi=4yɮA DNOT Ignoring new targets: 35.14 m.hh*h"h hgfffddjdZdŹ6@ZZZZ) di 9)LiiII ԡbE}|a4jE}^4rE}#e0E]? E]@EYEY"E]t;*E]M;VEYZEYam@am@am@am@u9 9@  @ @ @ I I) O5 >! i%,һ?Aɰ2E@2|;@2<ٱ2o9 :AHRS rotation from veh to nav: [[-0.689377,-0.722610,-0.050942],[0.723923,-0.689774,-0.012131],[-0.026372,-0.045241,0.998628]]2H_```*?@*؈Q)?i2E@I2>`;2CYB/ByFIbDNVDNfyV=%V_=ٔV%Q-V>9XYX=Z^FyX^6лE^>`Q 5f4bT?Q 9f4b:J)bCHBYdyf}?Q If?b lCIb>:ib6:be4ylɮn|AlDNOT Ignoring new targets: 35.14 m.hh*h "h  h g f ffddjdZd  7@Z1Z1Z1Z5}?M<)I MiM9)QUNQiQiYYYIYIaQnManaging dock network, ignoring radio surface power off-9@) @)@-1@)I9IIO]>)B>BBLIBBB =BBB;B8E g>CIGliA1eǒ9eliAYeօAQDa De <Eu : Eu nEu .Eq "Eu \p;*Eu (;VEu ـ4ZEq BEu m9Y=^Fy E>Q 54?Q 94H)AHBYA>Q E;y?Q I?/lCI:i<:ɂ4yɮA DNOT Ignoring new targets: 35.14 m.h h*h"h hgfffBddjd!Zd%|7@IZA>ZA>Z@Z?<) .i9)QiiAYIYIYq9ԡ] 9@a  @a @e /@a I I O > y,Eһ?A2j(@2@2<ٱ2m@9 >AHRS rotation from veh to nav: [[-0.688098,-0.723893,-0.049998],[0.725187,-0.688430,-0.012992],[-0.025015,-0.045198,0.998665]]2H@"*T`4? Ǜ`-$?i2j(@I2]`;2CYBVByFIbDNVDN02yVQ=%V^=ٔVbQ-V>9XYX=Z^FyX^[E^>`Q 5f4b?Q 9f4bG)b@HBYdyf?Q If?b;lCIbd:ib:bς4ylɮn?AlDNOT Ignoring new targets: 35.14 m.hh*h"h hgfffddjdZd7@ZZZZ?=<)9 EZ iE9)AESAiAiQIII;?)?ԱEMn EMXEM*EI"EMÏ;*EM;VEM(N4ZEIa]@a]@a]@a]@U99@ @@P0@I I 1 OM >B A B >B B IB BB B B DB Ƃ;B 8Ea,5^ӻ?AB@B%@B7-<ٱB;8 NAHRS rotation from veh to nav: [[-0.687674,-0.724337,-0.049390],[0.725616,-0.687967,-0.013515],[-0.024189,-0.045132,0.998688]]BHm-I`?8?`Ř @?iB@IBB`;@YV_ByVIi-Mb@Mb@Mb@)))) )9-HzG?J +Mb`Y-= >y-Ƚ-)-A -fA)-A)Y- AbDMVDMk1yU=%U@=ٔ]Q-]>9aYa=e^FyamgEm>iQ 5u4m?Q 94mE)iY*>Q E;y?Q I?mMlCImZe*>Ze@Ze?}7-<)y }\i}9)顅ViiII199@ @@/@IIOB>EU? EU-EU.EQY"EUt;*EUK;VEUـ4ZEQBEUX9 Y =^FyE>Q 5%4=?Q 9%4C)Y)y-?Q I-?^lCI:ig:݂4y1ɮ5A1eDNOT Ignoring new targets: 35.14 m.haha*ha"ha hagafififididqjdqZdu8@ZZZZ?<) ԹEE J EE 9EE /EA "EE ~;*EE ;VEE J4ZEA aU @aU @aU @aU @ s,Fӻ?A2@2A @2C`<ٱ2<.9 :AHRS rotation from veh to nav: [[-0.687359,-0.724734,-0.047940],[0.725984,-0.687546,-0.015101],[-0.022017,-0.045184,0.998736]]2H1@B;?`@]펿 S"@?i2@I2?a;0\YvzByvIbDVD0yk=%I=ٔ9Y=^Fy% E%>)Q 5-4-?Q 954-3B)-?HBY1y5?Q I5?-olCI-p:i-Q;-4yAɮE"AAmDNOT Ignoring new targets: 35.14 m.hihi*hi"hq hqgqfqfyfydydyjdZd9@ZZZZ?C`<) ౽i9)顽LYiiII 99@ @@/@IIO=+>Be>BaBeIBe?BBe =BaBaBe;Be8EBBBB =B =C5A E > E =E +E "E s;*E ;VE [4ZE BE @?i2@I21aa;2CYRByRIIT)V=i5Mb@Mb@Mb@1111 195jt?y&1{GztY5 >y5`彙5ף5x A5A 5A)5|A1Y5AbDMVDMkyU|=%F=ٔbTQ->9Y=^FyMb:E>Q 54?Q 94@)>HBYE>Q E;y?Q I?lCId;i;Z4yɮA UDNOT Ignoring new targets: 35.14 m.hihq*hq"hq hqgqfyfyf}BdydjdZd`|9@ZE>ZE>Z;@Zi?<) P8ii9)顽S\iiIII*9qm9@q @q@u/@qIIO>ԡ ,2yӻ?A6@6@6u<ٱ69 >AHRS rotation from veh to nav: [[-0.687813,-0.724422,-0.046109],[0.725634,-0.687865,-0.017251],[-0.019220,-0.045324,0.998787]]6H` w.c8?Oc4?i6@I6نa;6CYFByFIbDRVDRyV"<%ZV=ٔZ:{Q-Z>9\Y\=^^Fy\b:Eb>dQ 5j4f?Q 9j4f3>)f=HBYhyj?Q In?flCIf:if:f4ypɮrAp DNOT Ignoring new targets: 35.14 m.hh*h"h hgfffdd!jd!Zd%a9@ZAZAZAZE|?eu<)i mv/im<9)qu^qyiqiIIE]E E]ZE]-EY"E]Vz;*E];VE]t4ZEYae@ae@ae@ae@ԡ=&99@ @@/@IIO > iI II A A B >B B IB bBB B B B ;B 8E,Vӻ?AN&@NH@Nsΐ<ٱN9 VAHRS rotation from veh to nav: [[-0.688129,-0.724188,-0.045067],[0.725373,-0.688109,-0.018414],[-0.017676,-0.045361,0.998814]]NH & ,`B6?ے9`I?iN&@INa;NCY^By^!IiEMb@Mb@Mb@AAAA A9ES?q= ףpyE뽙EtEb AE A EfA)EAAYE3AbD]VD]ymb<%m>=ٔukQ-u>9yYy=}^Fyy}]y:E}>Q 54|?Q 94;):HBY8S>Q E;yB?Q I?lCIh;i ;S4yɮoADNOT Ignoring new targets: 35.14 m.hh*h"h hgfff݀BddjdZd[N:@Z8S>Z8S>Z@ZB?sΐ<) i9)raii!!!I)IIT?)U?89 =9@9 @9@=1@9IIE]O E]?E],EY"E];*E];VE]g4ZEYBE])Q ,ӻ?A>/@>$@>L<ٱ>: FAHRS rotation from veh to nav: [[-0.688516,-0.723886,-0.043986],[0.725043,-0.688424,-0.019629],[-0.016072,-0.045407,0.998839]]>HS * O3?@ u`?}?i>/@I>Yb;>CY^By^I ddbDjVDj02yrtܼ%rT=ٔrQ-r>9tYt=v^Fytv\:Ez>xQ 54za?Q 94z9)z7HBY y S?Q I ?zlCIzX%;iz:z 4yɮADNOT Ignoring new targets: 35.14 m.hh*h"h hgfffddjdZd@:@ZZZZS? L<)  6$i 9)diiII!9aF9I)I@Q @Q@]_0@YIEA E)EE"Ev;*E0;VEZEa@a@a@a@ԙIO>Թ ,]ӻ?A2%8@2-@2j<ٱ2b2: :AHRS rotation from veh to nav: [[-0.688939,-0.723555,-0.042801],[0.724678,-0.688770,-0.020932],[-0.014334,-0.045438,0.998864]]2H `\'@꥿0?f >o@][`C@?i2%8@I2b;2CYBByB#IbDJVDJ1yR\ =%VN=ٔVQ-V>9XYX=Z^FyXZS:EZ>\Q 5b4^<?Q 9f4^7)^5HBYdyff?Q If?^lCI^F:i^:^4yhɮjcAlDNOT Ignoring new targets: 35.14 m.hh*h"h hg f f f ddjdZd0;@Z9Z9Z9Z=f?Mj<)I MiU9)QUWfQiQiYYYIaIaԑB)B)B-IB-|BB- =B)B)B-;B-k8Eq@q @q@}4@yIIO> E% K E% =E! E! "E% ;*E% ;VE! ZE! BE% @NO4@NN<ٱN9 VAHRS rotation from veh to nav: [[-0.689244,-0.723337,-0.041547],[0.724419,-0.689004,-0.022134],[-0.012616,-0.045353,0.998891]]NH@J % Eq.?S @D3։}8?iN>@INNb;NCY^By^&IiMMb@Mb@Mb@IIII I9M ףp= ? rhYMQ8>yM̽MCM AMA MA)MfAIYMAbDaVDayu5<%u>=ٔ}Q-}>9yYy=^Fys:E>Q 54c?Q 94x5).HBYS>Q E;y?Q I?lCI ;i. ;4yɮPADNOT Ignoring new targets: 35.14 m.hh*h"h hgQfQfYf]ҀBdYdajdaZde`;@ZS>ZS>Zո@Z?N<) ig9)chiiII E99@ @@/@II O%M>9q ,ӻ?Aɰ 6D@6^:@6Ͳ1<ٱ69 >AHRS rotation from veh to nav: [[-0.689526,-0.723139,-0.040293],[0.724179,-0.689215,-0.023405],[-0.010846,-0.045318,0.998914]]6H#`Hy,? i =6 3?i6D@I6Vc;4YFByFIbD VD Ny%s%%O=ٔ-Q-->91Y1==^Fy9=Xu:EE>IQ 5e4M?Q 9e4Mc3)M(HBYiym$?Q Im?MmCIM;iMˁ;Mk4yyɮ}ADNOT Ignoring new targets: 35.14 m.hh*h"h hgfffddjdZd;@bEg4jE^n4rEQ/E_ EGEE"E;*E;VEZEa@a@a@a@Z Z Z Z $?Ͳ1<) %i%9)!%j!i!i)))I)I1qԙy9l>i%>u9@q @q@q@qIIO> B <A <B% >B! B% IB% BB! B! B! B% ;5 G,Ի?ABUY8EhA$:9>hAY>ALJ@N@@<ٱ"(: -AHRS rotation from veh to nav: [[-0.689801,-0.722939,-0.039163],[0.723942,-0.689416,-0.024760],[-0.009100,-0.045431,0.998926]]H Q"! *? ZĢ B3?iJ@I pc;YeBye Ionly read 2 of 4 data items for water velocity. Device response is::WS,-32768,-32768, a@a a@a a@a a@a bDVD0yx%?=ٔQ->9Y=^Fy1_:E>Q 54?Q 94(1)"HBQ A+:YQ EP;y1?Q I?mCIT&;i>n4y ےBɮ A .E=DNOT Ignoring new targets: 35.14 m.h9h9*h9"h9 h9g9fAfAfAdAdIjdIZdMV<@u<)y }v$i}9)y}nmyiyiII-9@) @)@-0@1IIIaOu>DzDEp ECE+E"E;*E;VE [4ZEBEAHRS rotation from veh to nav: [[-0.690031,-0.722775,-0.038122],[0.723742,-0.689575,-0.026154],[-0.007384,-0.045637,0.998931]]6H (? Ț?~]=?i6O@I6c;6CYFwByFIbDNVDN:yV7%V`=ٔZQ-Z>9XYX=Z^Fy\^~Z:E^>`Q 5f4bD ?Q 9f4b9 Y=^Fy9E>Q 5%4x ?Q 9%4-)HBQ A-9Y)Q E-;y-B?Q I-?AmCIH:i?{$4y1ɮ5A9YmDNOT Ignoring new targets: 35.14 m.hihi*hi"hi higifqfqfqdqdyjdyZd}=@P;) x;i9)顭*siiIIi@q @q@u4@qIIO=ԉBBBIBBBBBB;BR8EԹ E H E CE .E "E };*E ;VE ـ4ZE BE f@2u;ٱ28$; :AHRS rotation from veh to nav: [[-0.689765,-0.723143,-0.035906],[0.724022,-0.689187,-0.028526],[-0.004118,-0.045673,0.998948]]2H#Bb`/+?@ 5pdba?i2]I@I2*d;2CY^qBybIaa aa aa aa iMb@Mb@Mb@ 9333333?Q뱿V-Y>y\ A A)YAbDVD02yrX%@=ٔfQ->9YԹ=^FyQE>Q 54 ?Q 94I+) HBQ AT:Y,>Q E;y?Q I?SmCIn?;i>;+4yɮADNOT Ignoring new targets: 35.14 m.hh*h"h hgff!f%Bd!d!jd!Zd- =@ZM,>ZM,>ZM@ZM?]u;)Y ]ԣie9)aetaiaiiiiIiIq-9@) @)@-4@)I9IaOu>9 .f,d|Ի?AFE@F&;@F^';ٱFhh; VAHRS rotation from veh to nav: [[-0.689599,-0.723351,-0.034882],[0.724187,-0.688964,-0.029693],[-0.002554,-0.045738,0.998950]]FH2%ܡ@,?@ g`d`j`f?iFE@IF d;FCYb[BybIbDrVDry~%~V=ٔQ->9Y=^Fy  E >Q 54?Q 94))HBYy%?Q I%?dmCI;i;24y)ɮ-A)UDNOT Ignoring new targets: 35.14 m.hYhY*hY"hY hYgYfYfafadadajdiZdm =@ED E\E-E"Eny;*E ;VEt4ZEa@a@a@a@Z Z Z Z 4?=^';)A EiE9)AEAiAiIiqIqIq }}I})}9@ @@/@IIO%>9qA A B B B IB rBB B B B q;B D8EBBBB =B =C G4ԙ :O%,EԻ?AM?@M5@MȀ:ٱM; eAHRS rotation from veh to nav: [[-0.689352,-0.723633,-0.033890],[0.724426,-0.688660,-0.030894],[-0.000983,-0.045848,0.998948]]MH+@( Z@.? @΢P gya?iM?@IMXTd;MCY}RBy}II)=i=Mb@Mb@Mb@9999 99="~j?I +V-Y=S=y=949= A=A 9)=9A9Y=AbDUVDU:ye/!%e6=ٔedQ-e>i9iYq=u^Fyqu#HE}>yQ 54}I?Q 94}b()}GBY=Q E;y?Q I?}qmCI}. ;i} ;}v:4yɮADNOT Ignoring new targets: 35.14 m.hh*h"h hgfff]BddjdZd`>@Z=Z=Z:@Z?=Ȁ:)9 =ƣi=9)AEAiAiQQQIYIYI)gAE= E5E*E"Es;*E ;VE(N4ZEBE u+,EԻ?A2.@2$$@26yٱ2T< :AHRS rotation from veh to nav: [[-0.688584,-0.724398,-0.033167],[0.725157,-0.687848,-0.031821],[0.000238,-0.045963,0.998943]]2H@ D.={4?J&/?qW?i2.@I2ñd;2CYBJByBIbDJVDJyr>%rg=ٔraQ-r>9tYt=v^FytzDEz>xQ 54z?Q 94zX')zGBYy?Q I?z|mCIz;iz;z@4yɮ7A=DNOT Ignoring new targets: 35.14 m.h9h9*hA"hA hAgAfAfIfIdIdIjdIZdU>@ZiZiZiZm?6y) (i9)額b{;*Ev;VE [4ZEa@a@a@a@I ]2,Ի?A02f@2@2yٱ2< :AHRS rotation from veh to nav: [[-0.687825,-0.725147,-0.032530],[0.725875,-0.687048,-0.032719],[0.001377,-0.046117,0.998935]]2H@`h4_:?@K9XYX=Z^FyXZ,E^>`Q 5b4b?Q 9f4b.&)bGBYdyf?Q If?bmCIb:ib-:bG4yhɮnAlEDNOT Ignoring new targets: 35.14 m.hAhA*hA"hA hAgIfIfIfIdQdQjdQZdU}"?@ZqZqZqZud?y) hoi89)顭겉'9Y=^Fy.E>Q 54?Q 946%)GBY=Q Ei>-9@) @)@-0@1IIIYOu>A W>,fԻ?ABC@B@B[ٱB= JAHRS rotation from veh to nav: [[-0.686219,-0.726719,-0.031353],[0.727387,-0.685375,-0.034179],[0.003350,-0.046260,0.998924]]BH`@HA` F?`pk?k /?iBC@IB!c;@YR6ByVIbD^VD^Nyfڼ%f\=ٔf'Q-f>9hYh=j^Fyhn5En>pQ 5v4r?Q 9v4rd$)rGBYtyv@Q Iv?rmCIr:ir :rU4y|ɮ~A|-DNOT Ignoring new targets: 35.14 m.h)h)*h)"h) h1g1f1f1f9d9d9jd9ZdE?@ZaZaZaZe@u[)q uȥ;iua9)y}}BA AA BM >BI BM IBM DBBM =BI BI BM 6;BM 8Eԡ i I E,Dջ?A=m@= @=ɂٱ=[= MAHRS rotation from veh to nav: [[-0.685025,-0.727862,-0.030936],[0.728509,-0.684164,-0.034562],[0.003991,-0.046213,0.998924]]=H J@O?`@* 4Yp?E.?i=m@I=9Y=^FyupE>!Q 554%C?Q 9=4%#)%GBY=-=Q E=) K,>Y1ջ?A;ɰ;2@2U@2D5ٱ2< :AHRS rotation from veh to nav: [[-0.684013,-0.728833,-0.030473],[0.729455,-0.683136,-0.034935],[0.004645,-0.046124,0.998925]]2Hn@R/4W??㡿s?`1?i2@I2)b;2CYB'ByBIbDJVDJyRQ7%Ve=ٔVQ-V>9XYX=Z^FyXZ^~EZ>\Q 5b4^C?Q 9f4^")^GBYdyf7@Q If?^mCI^:i^$:^c4yhɮjNAlDNOT Ignoring new targets: 35.14 m.hh*h"h  h g f f fddjdZd`_@@Z1Z1Z1Z5@7@D5) y R,AKջ?A2@2%@2Fٱ2Z< :AHRS rotation from veh to nav: [[-0.682889,-0.729903,-0.030078],[0.730504,-0.682004,-0.035140],[0.005135,-0.045968,0.998930]]2H9 ][ ̞`J`? u?`+`;?i2@I2na;2CYB)ByBIbDNVDNNyR= <%RJ=ٔVמQ-V>9TYX=Z^FyXZxE^>\Q 5b4^"?Q 9f4^H")^GBYdyf@Q If?^mCI^`:i^:^j4yhɮn@AlDNOT Ignoring new targets: 35.14 m.hh*h"h hg f f f ddjdZd@@Z1Z1Z1Z5@MF)I MCB>BBIB0BBBBB0;B8EMGeliAy 9liAYqtAԁ99@ @@4@IIO5>ԩE K E GE ,E "E ;*E ;VE g4ZE BE 9iYi=u^FyquSEu>yQ 54}?Q 94}!)}GBY=Q E 9 M_,d~ջ?A2K@2u@2Fٱ2< :AHRS rotation from veh to nav: [[-0.680823,-0.731835,-0.029965],[0.732427,-0.679923,-0.035440],[0.005563,-0.046076,0.998922]]2H`M0k@%` p?@9% v?`< ,?i2K@I2 _;2CYB#ByBIbDNVDN0yVM<%VW=ٔVQ-V>9XYX=Z^FyXZxE^>`Q 5b4b?Q 9f4b!)bGBYdyf ?Q If?bmCIb :ib|:bx4yhɮnpAlE9 E7E+E"Eso;*E ;VE [4ZEa@a@a@a@DNOT Ignoring new targets: 35.14 m.hh*h"h hgfffddjdZd@@ZZZZ ?%F)! -=i-}9))-H3-a9 A A AAB B B IB %BB B B B J;B 8Ee,Ԙջ?A@Ml@Ma@MyٱMA< AHRS rotation from veh to nav: [[-0.679916,-0.732678,-0.029953],[0.733268,-0.679015,-0.035443],[0.005630,-0.046062,0.998923]]MHr v? ~%`/w?l,?iMl@IM%_;MCY9ByIi}Mb@Mb@Mb@yyyy y9}y&1?{GzI +Y}`9Y=^Fy?,E>Q 54?Q 94.!)GBY=Q E)6?y9@ @@@IIO%o>15< wl,Yջ?A2MX@2M@2f̸ٱ2\|< :AHRS rotation from veh to nav: [[-0.679033,-0.733497,-0.029944],[0.734086,-0.678134,-0.035372],[0.005640,-0.046000,0.998926]]2H@`x@}?GMw?R2?i2MX@I2^;2CY\y\lbDjVDjyv:%vl=ٔzQ-z?9xYx=z^Fy|~cE~?Q 5 4z?Q 9 4 )GBYy?Q I?mCI:iR:B4yɮA!DNOT Ignoring new targets: 35.14 m.hh*h"h hgfffddjdZddA@Z9Z9Z9Z=;?Mf̸)I Mw=iM9)QUv3u0@ I!I9OU2>1E> E@E*E"Es;*EM;VE(N4ZEa@a@a@a@a Kr,|ջ?Aɰ4<2D@2:@2Եٱ2; :AHRS rotation from veh to nav: [[-0.678166,-0.734299,-0.029942],[0.734888,-0.677276,-0.035174],[0.005549,-0.045858,0.998933]]2H@` $@4?=@Kv?zA?i2D@I2M#^;2CYNBByNITVAV@AV@AbDZ VDZ2yr3=%vK=ٔvdk9Q-v>9tYx=z^Fyxz@Ez>|Q 54~X?Q 94~ )~GBY y ?Q I ?~mCI~:i~d:~O4yɮuA9EDNOT Ignoring new targets: 35.14 m.hIhI*hI"hI hIgIfIfQfQdQdYjdaZdeA@ZZZZ?Ե)  =i9)32;ii!!I!I!-9BBBBB =BBBZ;B-8EBaBaBaBe =Be =Ceg5i9@ @@4@IIO (>ԙE 9 E ?E ,E "E so;*E ;VE g4ZE BE 9Y=^Fy]׺E>Q 54?Q 94 )GBY=Q E! ! ,2ֻ?A2,@2'"@2笻ٱ2A; :AHRS rotation from veh to nav: [[-0.677071,-0.735303,-0.030063],[0.735899,-0.676196,-0.034822],[0.005277,-0.045701,0.998941]]2HȞ`{?e>ԡu?fS?i2,@I2Q];2CYBRByBIbDJVDJyR=%R\=ٔV9Q-V>9TYT=V^FyTZ EZ>\Q 5b4^?Q 9b4^)\Y`ybʤ?Q If?^mCI^;i^;^D4yhɮjAh~DNOT Ignoring new targets: 35.14 m.h|h*h"h hgff f d d jd ZdA@Eeu Ee.Ee+Ea"Ee;*Ee;VEe [4ZEaam@am@am@am@ZZZZʤ?笻) ؁=i9)V3зiiII!99@ @@4@IIO>QB <A <B B B IB 5BB B B B ];B 08Ey 9,ֻ?A5O&@5@5R ٱ5Y; AHRS rotation from veh to nav: [[-0.676792,-0.735549,-0.030328],[0.736157,-0.675916,-0.034803],[0.005100,-0.045881,0.998934]]5H@G@d? ѡ`t?}@D?i5O&@I5 ?];1YVByI IiuMb@Mb@Mb@qqqq q9uˡE?lMbPYu'=yuuu Aq uA)uAqYuAbDVDky<%.=ٔ39Q->9Y=^FyTE>Q 54 ?Q 94 )Y>b=Q Epb=Z>b=Z@Z.:?R ) u=i]9)4%Iii!AAIAIIEu] Eu=Eu.Eq"Eu ;*Eu;VEuـ4ZEqBEu L`,3ֻ?A6 @6^@6s ٱ6; BAHRS rotation from veh to nav: [[-0.676542,-0.735779,-0.030317],[0.736386,-0.675669,-0.034727],[0.005067,-0.045819,0.998937]]6H <`O z? ǡht?@uJ?i6 @I6];6CYJhByJIbDRVDRyZq=%Zp=ٔZ8Q-^?9\Y\=b^Fy`b,Eb?dQ 5j4f ?Q 9j4f)fGBYhyj/?Q In?fmCIf6:if:fm4ypɮrFAp DNOT Ignoring new targets: 35.14 m.hh*h"h hgfffdd!jd!Zd%idB@ZAZAZAZE/?Us )Q U=i];9)Y]]$iYiaaaIiIiIuN?)u$?Ա9E} E}-E}-Ey"E};*E}K;VE}t4ZEya@a@a@a@9@ @@/@IIO> 9 DH,TMֻ?A2@2@2Gףٱ2; :AHRS rotation from veh to nav: [[-0.676442,-0.735869,-0.030400],[0.736479,-0.675569,-0.034703],[0.005000,-0.045863,0.998935]]2Hh`<!=?`Cġ@zt?j{F?i2@I2X\;2CYBsByBIbDJVDJyrW=%rG=ٔr ,9Q-r>9tYt=v^FytzrEz>xQ 54z?Q 94z)xY y *?Q I ?zmCIzW1;izB2;z4yɮAEDNOT Ignoring new targets: 35.14 m.hAhA*hA"hA hAgIfIfIfIdQdQjdQZdUB@ZqZqZqZu*?Gף) =ii9)額29iiIIB9B9B=IB=IBB= =B9B9B=b;B=48E9@ @@/@IIO&>9ԁ E l E 9E .E "E ڎ;*E ;VE ـ4ZE BE @2?ٱ2Y; >AHRS rotation from veh to nav: [[-0.676223,-0.736068,-0.030432],[0.736681,-0.675358,-0.034525],[0.004860,-0.045765,0.998940]]2H`ߍ)?2s?`nQ?i2@I2k\;2CYFByFIiMMb@Mb@Mb@IIII I9MMb?)\(9yY=^Fy8E>Q 54R?Q 94')GBYN=Q E6 Z,yֻ?A2@2]@2zşٱ2; :AHRS rotation from veh to nav: [[-0.676363,-0.735939,-0.030455],[0.736552,-0.675496,-0.034579],[0.004876,-0.045820,0.998938]]2Hä ό@/@֑?੝ Y s?@uL?i2@I2\;2CYBByB%IbDJVDJ1PyVd=%VX=ٔZ0Q-Z>9XYX=Z^Fy\^:E^>`Q 5f4b?Q 9f4bq)bGBYdyj?Q Ij?bmCIb:ib):b4ylɮnAlDNOT Ignoring new targets: 35.14 m.h h *h "h  h g f ffddjdZdkB@bEg4jErE0EEZ EEUEE)EA"EE;*EE\;VEEFA4ZEAaU@aU@aU@aU@ZQZQZQZU{?zş) ,>i9)ľ3]OiiII !!59@1 @1@50@1IAIQOe> hA! A) A) B5 >B1 B5 IB5 gBB1 B1 B1 B5 T;B5 &8E P9 hAY A! iߡ Iߡ \,Uֻ?AB@@QٱS: AHRS rotation from veh to nav: [[-0.676296,-0.736005,-0.030344],[0.736614,-0.675436,-0.034429],[0.004845,-0.045636,0.998946]]H7YW?,s?`]`^?iB@I\;CY5By5,IiMb@Mb@Mb@ 9K?L7A`尿y&1|?Y^=y+`;A )Y3AbDVDβy<%,=ٔ8Q->9Y=^FyiHE>Q 54?Q 94 )GBY=Q E;y#?Q I?mCIs:i:ǃ4yɮA=DNOT Ignoring new targets: 35.14 m.h9h9*hA"hA hAgAfAfIfMfBdIdIjdQZdU iԁ l,{0ֻ?A2< @2@2ٱ2,: :AHRS rotation from veh to nav: [[-0.676519,-0.735805,-0.030203],[0.736408,-0.675658,-0.034495],[0.004974,-0.045578,0.998948]]2H ힿ?E_t?Vb?i2< @I2\;2CYBByBAI J;Jp;bDNVDNNyr=%rq=ٔrȹQ-v?9tYt=v^FytzAk:Ez?|Q 54~?Q 94~)~GBYy-?Q I ?~nCI~;i~;~̓4yɮ7A=DNOT Ignoring new targets: 35.14 m.h9hA*hA"hA hAgAfAfIfIdIdIjdIZdUgC@YZqZqZqZu-?) >i9)顕4iiIIU9@Q @Q@]/@YIqIO=ԉE]7 E]>E]-EY"E]m;*E]?;VE]t4ZEYae@ae@ae@ae@Ա O, ֻ?A21/@2$@2篻ٱ2: :AHRS rotation from veh to nav: [[-0.677190,-0.735199,-0.029945],[0.735789,-0.676314,-0.034848],[0.005368,-0.045632,0.998944]]2H ` 婞?@]@סu?] Y?i21/@I2 ];2CYBByBIIbDNVDN0yV =%VN=ٔZQ-Z>9XYX=^^Fy\^;E^>`Q 5f4bi9)2@4OiiIIB>BBIBBB =BBB6;B8E9@ @@/@IIO>Da De <Em ? Em 9Em ,Ei "Em t;*Em ;VEm g4ZEi BEm X9AYA=E^FyAE(;EM>IQ 5U4M?Q 9]4M)MGBYQ>Q E;ym?Q I?MnCIMZ Q>Z ;@Z m?%t)! %=i%#9)!%q[4-;i)i111I1I1@ @@/@IIO*>Aqԙ 9,׻?A4<ɰ;6L@6A@6NŻٱ6^< BAHRS rotation from veh to nav: [[-0.678483,-0.734016,-0.029696],[0.734592,-0.677574,-0.035606],[0.006014,-0.045972,0.998925]]6H!@}hƁ?@:@x?@0?i6L@I6\;6CYJByJ^IbDRVDRfyZ12=%ZS=ٔ^2nQ-^>9\Y\=b^Fy`b;Eb>dQ 5j4f?Q 9j4f=)fGBYhyn?Q In?f)nCIf:if:f4ypɮr{Ap DNOT Ignoring new targets: 35.14 m.h h *h"h hgffE%6 E%'E%/E!"E%l;*E%";VE%J4ZE!a-@a-@a-@a-@fd1d1jd1Zd5`jD@ZQZQZQZU?mNŻ)i mP=im9)iuw4uռiqiyyyIyIy9@ @@0@IIO%=ԡBA4=BBB:IBBB =BBB;B7EBBBB =B =Cz4 P,&׻?AgY@O@ӻٱ4; EAHRS rotation from veh to nav: [[-0.679079,-0.733481,-0.029294],[0.734037,-0.678160,-0.035892],[0.006460,-0.045876,0.998926]]H@x :}?} f` uz? } 4?igY@I\;CYùByukIbDVDk2y1K=%8=ٔ(Q->9 Y=^Fy:E>Q 54K?Q 94)GBYy?Q I?8nCI:i$:4yɮ!ADNOT Ignoring new targets: 35.14 m.hh*h"h hgfffddjdZdt=D@Z Z Z Z >?%ӻ)! %:>i%9))-4-&i)i111I1I9 ==I=)=D-@AzD)E=9 E=WE=-E9"E=so;*E=j;VE=t4ZE9BE==a=A ,w6׻?A2h@2<^@2ٱ2; >AHRS rotation from veh to nav: [[-0.679758,-0.732865,-0.028942],[0.733404,-0.678826,-0.036255],[0.006923,-0.045870,0.998923]]2H sߢ x?[|?Q| .?i2h@I2\;2CYBʀByFhIiEMb@Mb@Mb@AAAA A9E333333?ˡEMb?YE>yE什E9qYq=u^Fyq}=%;E}>Q 54?Q 94)GBY>/>Q E;y?Q I?HnCI:i:m4yɮ8ADNOT Ignoring new targets: 35.14 m.hh*h"h hgfffBddjdZdlD@Z>/>Z>/>Z @Z? )  T=i*9)4ii!I!I!Q9@ @@4@IIO>yEE6 EE|EE/EA"EEl;*EE/;VEEJ4ZEAaM@aM@aM@aM@ԩ h,;SP׻?A6@6v@6ٱ6L< >AHRS rotation from veh to nav: [[-0.680842,-0.731877,-0.028454],[0.732390,-0.679885,-0.036888],[0.007653,-0.045954,0.998914]]6H`uk"o?㢿`>X?O ?i6@@I6];6CY^΀BybnIbDjVDj:yr <%rS=ٔr$Q-r>9tYt=v^Fytz{;Ez>xQ 54z?Q 94zp)zGBYy'?Q I?zYnCIz+;iz;z-4yɮADNOT Ignoring new targets: 35.14 m.hh*h"h hgfffddjdZdD@Z Z Z Z '?=)A E=iEC9)AE4AiAiIIQIQIQIa)aB>BB_IBÀBB =BBB;B7Eԩ@ @@4@IIO >iAIEA DE =DE R=EM Q EM =EM ,EI "EM ;*EM ;VEM g4ZEI BEM sAHRS rotation from veh to nav: [[-0.681862,-0.730944,-0.028020],[0.731434,-0.680884,-0.037441],[0.008289,-0.046024,0.998906]]6H c,@g?q+?t ?i6ٗ@I6~];6CYF׀ByFxIpi5Mb@Mb@Mb@1111 195{Gz?bX9ȶI +?Y5#>y5E594<5 A5@ 5OA)5 A1Y5AbD]VD]yut#=%uA=ٔ}kźQ-}>9Y=^FywX;E>Q 54?Q 94v)GBY;>Q E;ys?Q I?mnCI&D;i3;4yǒBɮAEuDNOT Ignoring new targets: 35.14 m.hqhq*hy"hy hygyfyffBddjdZdD@Z;>Z;>Z[Ѹ@Zs?) L=iX9)4ii   I I1 9@ @@0@IIO&>1a ,1׻?A2̮@2i@2gٱ2X< :AHRS rotation from veh to nav: [[-0.682882,-0.730013,-0.027441],[0.730473,-0.681886,-0.037956],[0.008997,-0.045965,0.998903]]2H+ D\@ `?  nl??i2̮@I2b?];2CYBЀByBpIbDJVDJ02yR%VX=ٔVyQ-V>9XYX=Z^FyXZs;E^>EG E"E-E"E&|;*E;VEt4ZEa @a @a @a @Q 5%4?Q 9%4 )GBY)y-?Q I-?nCI:i:`49yAɮEAIDNOT Ignoring new targets: 35.14 m.hh*h"h hgfffddjdZdIE@ZZZZs?%g)! %0=i%'9)!%*4!i)iQqqIqIy 9@  @ @ /@ I!IAOe>iԑAqAu@AB}>B}'CB}rIB}ҀBByByByB}2;B}8E ,׻?Aɰ49Y=^Fy-lP;E->aQ 54e?Q 94e )eGBYy?Q I?enCIe!,i)>E E%E2E"E*E;VE4ZEBE |J,׻?A2@2a@2+ٱ2}< :AHRS rotation from veh to nav: [[-0.685141,-0.727934,-0.026340],[0.728335,-0.684103,-0.039139],[0.010472,-0.046000,0.998887]]2H;KN?@+` (r?I?i2@I2I];2CYBπByFnIi Mb@Mb@Mb@     9 ףp= ? ףp= y&1|?Y >y Q `; A @ ) "A Y bD%VD%y5p;%5R=ٔ=bQ-=>9AYA=E^FyAM=;EM>IQ 5U4M?Q 9]4M )MGBY]7>Q E];y]?Q I]?MnCIM ;iM2 ;M4yiɮmAii!I%ADNOT Ignoring new targets: 35.14 m.hh*h"h hgfffBddjdZd(sE@Z7>Z7>ZQ:@Z4?%+)! %L=i-j9))-4)i)iQQQIYIY9@ @@@ I!I1O=.>bEt4jE4rE.0E> E8E-E"Es;*E ;VEt4ZEa-@a-@a-@a-@Qy 2,$׻?A6y@6@68ٱ6C< BAHRS rotation from veh to nav: [[-0.686322,-0.726843,-0.025721],[0.727211,-0.685261,-0.039778],[0.011287,-0.046005,0.998877]]6HXLB`V OE?@]r??i6y@I66a];6CYJĀByJaIbDRVDR1yZh%ZS=ٔ^ Q-^>9\Y`=b^Fy`b;Eb>dQ 5j4fD?Q 9j4f)fGBYlyn?Q In?fnCIf:if/;f`4ypɮrAt  iliADNOT Ignoring new targets: 35.14 m.>9liAY}Ahh*h"h hgfBB(CBxIB׀BB =BBB6;B8EQfYfYdYdajdaZdeE@ZZZZ?8)  ԁԱE- 7 E- =E- .E) "E- m;*E- ;VE- ـ4ZE) BE- yjA@ KA)AYbDVDyT%8=ٔQ->9Y=^Fy0C;E> Q 5 4 ?Q 94 ) GBY14>Q E;y?Q I? nCI P ;i u ; %#4y%ĒBɮ%zA!MDNOT Ignoring new targets: 35.14 m.hIhI*hQ"hQ hQgQfQfYf]BdYdYjdaZdeE@ԱZ14>Z14>Zt@Z?5qC)1 5L=i5c9)9=49i9iAAAIAIAQ9@ @@0@II O*> 9 D,Qػ?A2G'@2@2Mٱ2o< :AHRS rotation from veh to nav: [[-0.688209,-0.725091,-0.024737],[0.725404,-0.687116,-0.040744],[0.012546,-0.045985,0.998863]]2H 3@T 6?jܤ@?W@?i2G'@I2n];2CYBByBFIbDNVDNNyV%Vb=ٔVݺQ-V>9XYX=Z^FyXZfi;E^>`Q 5f4b휊?Q 9f4bu)bGBYdyj?Q Ij?bnCIb :ib9:bz)4Er6 ErBEr/Ep"Erl;*ErZ;VErJ4ZEpaz@az@az@az@ylɮzAx%DNOT Ignoring new targets: 35.14 m.h!h!*h!"h! h!g!f)f)f)d)d1jd1Zd5}F@ZZZZ?M) =i39)  4 i iQIQIY9@ @@4@IIO >9BA=BB'CBrIBҀBBBBB$;B7Eԉ iA IA Is,?ػ?A,2M>@23@2Xٱ2< NAHRS rotation from veh to nav: [[-0.689221,-0.724143,-0.024295],[0.724430,-0.688108,-0.041333],[0.013214,-0.046088,0.998850]]2H .,`.? ) ?Ԙ@?i2M>@I2gQ];2CYVByV5IbD^ VD^2yf%fG=ٔjպQ-j>9lYl=n^FylrU`;Er>tQ 54v윊?Q 9 4v)vGBYy?Q I?vnCIv;iv;v04yAɮEAIDNOT Ignoring new targets: 35.14 m.hh*h"h hgfffd d jd Zd CF@ZIZIZIZM?]X)a eq;ԑi9)顭y4iiIIE3 EYE1E"Ej;*Ew;VE-4ZEBEԱ ,W9ػ?A;ɰ;:DQ@:F@:bٱ: < BAHRS rotation from veh to nav: [[-0.690054,-0.723364,-0.023862],[0.723626,-0.688925,-0.041804],[0.013801,-0.046114,0.998841]]:H %8o@'? `gC?I ?i:DQ@I:_];:CYJByJ'I`i=Mb@Mb@Mb@9999 99=V-?#~jy&1|Y=h>y=㥽=`=A=@ 9)=|A9Y=\AbDeVDeܲy}ET%}@=ٔQ->9Y=^Fy2;E>Q 54뜊?Q 94)Y'>Q E;y ?Q I?nCIZS;iR;84yɮuADNOT Ignoring new targets: 35.14 m.hh*h"h hgfffgBddjdZdKuF@Z'>Z'>Z9y@Z/ ? b)  T=i,9)4ii111I1I99@ @@/@IIO&>E< EWE.E"E,r;*Ej;VEـ4ZEa @a @a @a @߭ =߭ =A ,Rػ?A2a@2+W@2)iٱ2< :AHRS rotation from veh to nav: [[-0.690769,-0.722695,-0.023453],[0.722935,-0.689630,-0.042138],[0.014279,-0.046063,0.998837]]2HR *@H"? s #D>?`x?i2a@I2>];2CYBByBIbDJVDJkyV%VY=ٔVQQ-V>9XYX=Z^FyXZ-;E^>`Q 5f4b霊?Q 9f4bA)bGBYdyf-?Q If?boCIb:ib9:b>4ylɮnAlmDNOT Ignoring new targets: 35.14 m.hihy*hy"hy hygyfffddjdZd@ F@ZZZZ-?B>BBSIBBB =BBB;B7EB'CB'CBB =B =CN5 )i)  x=i9)4iQiyyyIyI-9@) @)@5/@1IIYIqO>qE 9 E >E E "E so;*E ?;VE ZE BE 9Y=^Fy:E>Q 54m蜊?Q 94)GBY>Q E;yI?Q I?oCI ;i2 ;KF4yɮYA DNOT Ignoring new targets: 35.14 m.h h *h "h  h g fffEBddjdZd3F@Z=>Z=>Z=й@Z=I?Mm)Q U=iUO9)Q]4YiYiYaaIaIa 9@  @ @ /@ II)O5 >ԡ ŕ!,쥆ػ?A2Cq@2f@2?qٱ2< :AHRS rotation from veh to nav: [[-0.691457,-0.722052,-0.022991],[0.722268,-0.690314,-0.042373],[0.014724,-0.045905,0.998837]]2Hj @? `ⱥ'?`րy?i2Cq@I2];2CE^* E^*E^)E\"E^a;*E^;VE^FA4ZE\ab@af@af@af@YfiByfIbDrVDryvѢ%zW=ٔzQ-~>9|Y|=~^Fy|_:E> Q 54 ,眊?Q 94 ]) GBYyY?Q I? -oCI ;i ; L4y!ɮ%A!MDNOT Ignoring new targets: 35.14 m.hIhI*hQ"hQ hQgQfQfYfYdYdYjdaZde G@ZZZZLY??q) ܎=i9)4ii!!!I!I)9@ @@ 0@IIO>AAAABBB-IBBB =BBB;B7E)Q ',sػ?A2t@2Cj@2\qٱ28< :AHRS rotation from veh to nav: [[-0.691606,-0.721907,-0.023037],[0.722124,-0.690459,-0.042459],[0.014746,-0.046000,0.998833]]2H! ?@=12? ^o?i2t@I2\;2CYrfByrIbDVD02ya%I=ٔ.\Q->9Y=^Fy!%':E%>)Q 554-圊?Q 954-)-GBY1y5_?Q I=?-;oCI-;i- ;-T4yIɮMAQDNOT Ignoring new targets: 35.14 m.hh*h"h hgf 9ffddjdZd EG@ZyZyZyZ}_?DzDAAE  EEE/E"EX;*E;VEJ4ZEBE߅=߅%=ԉԹ -,Nػ?A2s@2{i@2pqٱ2; BAHRS rotation from veh to nav: [[-0.691572,-0.721944,-0.022922],[0.722157,-0.690432,-0.042332],[0.014736,-0.045829,0.998841]]2HZ!`*x?@-?v?i2s@I2 ];2CYRSByRIiMb@Mb@Mb@ 9{Gz?/$ rhYף=y,C|Az@ A)jAYfAbDVD:yw%?=ٔ׿7Q->9Y=^FyE>Q 54䜊?Q 94)GBYK=Q Ei%Z9)!%5!i!iiqqIqIq9@ @@:3@ II)O5.>E EE-E"EP;*EVEt4ZEa@a@a@a@ 4,V*ػ?A4<ɰ2j@2`@2lٱ2R; :AHRS rotation from veh to nav: [[-0.691183,-0.722311,-0.023088],[0.722537,-0.690056,-0.042001],[0.014406,-0.045712,0.998851]]2H@+,@Q?@?g?i2j@I2]\;2CY^PBybIbDjVDjfyrǗ%r[=ٔrh:Q-r>9tYt=v^FytzzEz>xQ 54z*䜊?Q 94z)zGBYy?Q I?zNoCIz;iz;zb4yɮABe>BaBeIBewBBe =BaBaBeց;Be7EDNOT Ignoring new targets: 35.14 m.hh*h"h hgfffddjdZd ਨG@Z!Z!Z!Z%v?}l)y }>i}J9)顅5iiIIM9@I @Q@U4@QIaIyO>iI!Y D <D %=E g E TE .E "E ;*E ;VE ـ4ZE BE 9aYa=e^FyamXEm>iQ 5u4m㜊?Q 9}4m)mGBY}_<=Q E}iz9)L5iiIIi9@ @@ /@ II)O5.>Թ A,zٻ?A2s[@2Q@2`ٱ2; :AHRS rotation from veh to nav: [[-0.690504,-0.722941,-0.023652],[0.723198,-0.689390,-0.041548],[0.013731,-0.045794,0.998857]]2H V"@,8o$?{`E`? Gr?i2s[@I2c];0bE-ـ4jE-44rE-I"0ER  ER>EPEP"ERE;*ER?;VEPZEPaZ@aZ@aZ@aZ@\Y6ByIbD-VD-y=&%=L=ٔ=T~:Q-=>9AYA=E^FyAM:źEM>IQ 5U4M㜊?Q 9]4M)MGBYYy]?Q I]?MWoCIM;iM;Mbp4yiɮmrAiDNOT Ignoring new targets: 35.14 m.hh*h"h hgfffddjdZdH@ZZZZ?`) 7>i9)G$5iiIIQU<9@ @@/@II O>%gG9Q9Y}A)BYA]<Be>BaBeIBeXBBe =BaBaBe;Be7EI 8 H,!ٻ?A2P@2FF@2Xٱ2k< :AHRS rotation from veh to nav: [[-0.690033,-0.723376,-0.024114],[0.723657,-0.688926,-0.041240],[0.013220,-0.045907,0.998858]]2H%@@3(?@ w ?)?i2P@I26];2CY^BBy^I ``bDjVDj0yrw=%rP=ٔr:Q-v>9tYt=v^FytzۺEz>|Q 54~n㜊?Q 94~)~GBYy?Q I ?~\oCI~d:i~p:~@w4yɮAYDNOT Ignoring new targets: 35.14 m.hh*h"h hgff)f)dQdYjdaZde@IH@E E?E/E"EI@;*E;VEJ4ZEBEi/9).5iiII!ԁ@ @@@II OK>Ա 6N,;ٻ?AFY>@F3@F7NٱF; VAHRS rotation from veh to nav: [[-0.689229,-0.724129,-0.024503],[0.724434,-0.688143,-0.040667],[0.012586,-0.045779,0.998872]]FH *,`Q.?`E@>ҤƉ?dp?iFY>@IF:];FCY`y`iMMb@Mb@Mb@IIII I9MI +?y&1~jtxYM99Y=^Fy&E> Q 54 ?㜊?Q 94 \) GBY3i9)P95iiIIE E2E1E"EM;*E;VE-4ZEa@a@a@a@uj9 @  @ @ @ I I) O= >9 U,qUٻ?A6\.@6#@6FDٱ6]: BAHRS rotation from veh to nav: [[-0.688527,-0.724785,-0.024851],[0.725112,-0.687463,-0.040099],[0.011979,-0.045629,0.998887]]6Hio1mr4?⇤@?\?i6\.@I6\;6CYJ=ByJIbDRVDRNyZg9%Z<ٔZ:Q-Z>9\Y\=^^Fy\bs0Eb>dQ 5j4f㜊?Q 9j4f)fGBYhyj?Q Ij?faoCIfF:if:fC4ypɮr5ApBBBIBDBB =BBB;B|7E-DNOT Ignoring new targets: 35.14 m.h)h)*h)"h1 h1g1f1f1f9d9d9jdAZdEH@ZaZaZaZey?uFD)q u$>iu9)y}*C5yiyiIIU9@Q @Q@]0@YIqIO=AqE  E 9E -E "E P;*E ;VE t4ZE BE AHRS rotation from veh to nav: [[-0.687702,-0.725554,-0.025247],[0.725905,-0.686661,-0.039481],[0.011309,-0.045478,0.998901]]6H`@7Oڙ`:? 6``)?H?i6@I6_!];6CY^9By^IIbR=)b=iMb@Mb@Mb@ 9I +?~jtx~jth?Y949Y=^Fy&,E>Q 54✊?Q 94)GBYSi}c9)顅NQ5iiII9@ @@0@II)O5.>ԡ /b,(ٻ?A2 @2s@2f.ٱ2/: :AHRS rotation from veh to nav: [[-0.687052,-0.726151,-0.025757],[0.726530,-0.686026,-0.039016],[0.010661,-0.045519,0.998907]]2H U<``??Յ? ?N ?i2 @I2V ];2CEB EB-EB/E@"EB[I;*EBK;VEBJ4ZE@aJ@aJ@aJ@aJ@YNMByNIbDVVDVy^=%b[=ٔb2:Q-b>9dYd=f^FydfEf>hQ 5n4j✊?Q 9n4j)jGBYpyr7?Q Ir?jdoCIj;ij;jh4ytɮvAtDNOT Ignoring new targets: 35.14 m.hh*h"h hg!f!f!f!d)d)jd)Zd-I@ZIZIZIZM7?f.) >i9)ii!))I)I19@ @@4@IIO>AAB>BBIB?BB =BBB;Bs7EBBBB =B =C75) Yh,Kٻ?A:^@:@:$ٱ:6: BAHRS rotation from veh to nav: [[-0.686370,-0.726780,-0.026214],[0.727183,-0.685361,-0.038539],[0.010043,-0.045514,0.998913]]:H`Aך E?`zW \?M?i:^@I:PE];8YJXByJIbDRVDR1yZ`=%ZK=ٔ^A:Q-^>9\Y`=b^Fy`bEb>dQ 5j4f✊?Q 9j4f)fGBYhyn?Q In?feoCIfU;if;fs4ypɮr^ApDNOT Ignoring new targets: 35.14 m.hh*h"h hgfffd!d!jd!Zd% BI@ZAZAZAZE?U$)Y ]&>i]L9)Y]3YiaiiqqIyI9@ @@/@!1IaIE EE-E"EP;*E:VEt4ZEBEa2EaJESaԡ n,ٻ?A0Y5ZBy5IiMb@Mb@Mb@ 9? rhQ?Y9Y=^FyE>!Q 5-4%✊?Q 9-4%c)%GBY-< =Q E5i59)1531i1i999I9IA AAԉII)I9@ @@/@IIO>>E E-E/E"EsH;*EK;VEJ4ZEa@a@a@a@Թm =m 4= ku,عٻ?ABPBPBRIBRDBBPBPBPBR;BR7E`Y~jBy~IbDVDy%=%%Z=ٔ)Q-->9)Y)=5^Fy11E5>9Q 5E4=g✊?Q 9E4=)=GBYIyIQ IM?=koCI=:i=9:=Ѩ4yQɮUAQDNOT Ignoring new targets: 35.14 m.hh*h"h  h g f f9f9d9dAjdAZdM ֮I@ZZZZ) B>i9)#4ii!!!I)I)9@ @@@IIO'>E  E "E .E "E M;*E ;VE ـ4ZE BE 9IYI=U^FyQUVEU>YQ 5e4]ᜊ?Q 9e4]D)]GBYm=Q Emi9)G4iiIII9@ @@/@IIO>qԡ },p ڻ?Aɰ4<E2  E2E0E0"E2F;*E2:VE0ZE0a:@a:@a:@a:@>@>@>w ٱ>: FAHRS rotation from veh to nav: [[-0.685608,-0.727455,-0.027424],[0.727923,-0.684639,-0.037383],[0.008419,-0.045593,0.998925]]>H@NG"`$K?#=?W0?i>@I>/];>CYNByNIbDvVDvJy=%M=ٔ%s9Q-%>9!Y!=-^Fy)-I5:E->1Q 5=45?Q 9=45t)5GBYAyE?Q IE?5|oCI5;i5;5궄4yIɮMAIԁDNOT Ignoring new targets: 35.14 m.hh*h"h hgfffddjdZdJ@ZZZZ'?w ) 5>i9)!t4iiIII ) 9@ @@/0@IIO>ԡBA<BBBIBbBBBBB;B7E .,#K$ڻ?A2@2@28 ٱ2I>: :AHRS rotation from veh to nav: [[-0.686011,-0.727078,-0.027301],[0.727542,-0.685048,-0.037302],[0.008419,-0.045452,0.998931]]2H`9DH?G>?`E@>?i2@I2dT];2CYBByB/IbDJVDJyRx=%VR=ٔV[Q-V>9TYX=Z^FyXZ:EZ>\Q 5b4^'?Q 9b4^)^GBYdyf?Q If?^oCI^N:i^[:^4yhɮjDAlEDNOT Ignoring new targets: 35.14 m.hAhA*hA"hA hAgAfIfIfIdIdQjdQZdUEJ@ZZZZ$? 8 )  ~S>i 19)  4 iiAAIIIIYDqzDu@AE EE0E"EC;*Eu:VE4ZEBE?]4=]<1a Pю,N&>ڻ?A2O@2@2Т ٱ2m: :AHRS rotation from veh to nav: [[-0.686600,-0.726522,-0.027316],[0.726987,-0.685635,-0.037342],[0.008401,-0.045498,0.998929]]2H@? zC?@xL4?wK@:?i2O@I2K];2CYZByZ3IiMMb@Mb@Mb@IIII I9MCl?MbX9v?YM;=yMM9Y=^Fy:E>Q 54ߜ?Q 94E)HBYE>Q E;y!?Q I?oCIH:i:Hń4yɮ'ADNOT Ignoring new targets: 35.14 m.hh*h"h hgfff{BddjdZd`|J@1ZE>ZE>Z@Z-!?Т ) \=i9)V4ii!!!I!I)9@ @@4@IIO&>abEJ4jEJ4rE/E  EE2E"EE;*E:VE4ZEa@a@a@a@ԉe PExceeded connect timeout, disconnecting. G  E M9A YM ;AԹ (,PXڻ?AB&>B$B&IB&BB& =B$B$B& ;B&7EB@Bs @B ٱB<: JAHRS rotation from veh to nav: [[-0.687421,-0.725754,-0.027098],[0.726209,-0.686451,-0.037490],[0.008607,-0.045451,0.998930]]BH`Y `9@=?h 1?QE ;?iB@IB$R];@YRByRKIbD^VD^0yf=%fW=ٔfQ-f>9hYh=j^FyhjC;En>IQ 5}4Mޜ?Q 94M)MHBYyD?Q I?MoCIMi;iMi=%>9@ @@?4@iIIIO'>D =D R=E  E E .E "E L;*E :VE ـ4ZE BE ޡyj\= A@ A) AY(AbDVDܲy <%:=ٔQ->9Y=^FyE>Q 54Xݜ?Q 94H)&HBY$>Q E ;y ?Q I ?oCI:i:ӄ4yBɮ4AEEDNOT Ignoring new targets: 35.14 m.hAhA*hA"hA hAgAfAfIfMBdIdQjdQZdUQJ@Zu$>Zu$>Zu@ZuU?) #=i59)額R4iiIIM9@I @Q@U/@QIyIO>I !ˢ,xڻ?AE2" E2E0E0"E2Z;*E2&:VE0ZE0a:@a:@a:@a:@LRE@R;@RٱR_a: ZAHRS rotation from veh to nav: [[-0.689570,-0.723733,-0.026508],[0.724158,-0.688579,-0.038125],[0.009340,-0.045485,0.998921]]RH($`N,? ?`I)?iRE@IR}];RCYbƀBybdIbDjVDjyzM=%~[=ٔ Q->9Y=^Fy5<E>!Q 5-4%ܜ?Q 9-4%)%5HBY1y5)?Q I5?%oCI%K:i%d:%.ڄ4y9ɮ=AAmDNOT Ignoring new targets: 35.14 m.hihi*hi"hi higifqfqfqdqdyjdyZd}`}K@ZZZZL)?) =i9)页4iiII5=1U9@Q @Q@U/@QIaIqO}=ԉ nManaging dock network, ignoring radio surface power offA9A=@ABE>BABE4IBEBBE =BABABE;BE7EԹ 6,lڻ?A`Y ˀBy jIAAAAbD%VD%0y-<%-F=ٔ5Q-5>91Y9==^Fy9=EE>AQ 5M4Eۜ?Q 9M4E)EFHBYQyQQ IU?EoCIE:iE:EP4yYɮ]|AaDNOT Ignoring new targets: 35.14 m.hh*h"h hgfffddjdZdIK@ZZZZ) =i9)4iiIIDqzDu?AED EE2E"Eny;*E:VE4ZEBECA ,rڻ?A2ԃ@2qy@2/.ٱ2pe9 :AHRS rotation from veh to nav: [[-0.692311,-0.721156,-0.025296],[0.721521,-0.691294,-0.038990],[0.010631,-0.045245,0.998919]]2H@i'`@癿@?@Ņ?Q*%?i2ԃ@I2+];2CYbĀByb`IieMb@Mb@Mb@aaaa a9eʡE?B`"۹Zd;O?Ye-2>yeνej9YiI=^FyB<E>Q 5%4$ڜ?Q 9-4)SHBY-\O>Q E-;y-*?Q I-?oCIv:i:4yYɮ]AYDNOT Ignoring new targets: 35.14 m.hh*h"h hgfffBddjdZdࠂK@Z\O>Z\O>Zt;@ZD*?E/.)A ME EE0E"EL;*E:VE4ZEa@a@a@a@qԡ BE >BA BE SIBE BBE =BA BA BE ;BE 7E,Iڻ?AB1B1B1B5 =B5 =C5t5Y]By]]IybDVDyg=%G=ٔQ->9Y=^FyE>Q 54؜?Q 94)_HBYyQ I?oCI:iy:4yɮAIuDNOT Ignoring new targets: 35.14 m.hyhy*hy"hy hygyfyffddjdZdK@ZZZZ) (4E  E E :E "E *E :VE (4ZE BE y;߽94< fA)AYAbDVDyc%K=ٔQ->9Y=^FyE>Q 54֜?Q 94)fHBYY>Q Ey;y#?Q I?pCI2;i0;4yɮADNOT Ignoring new targets: 35.14 m.hh!*h!"h! h!g!f!f)f-Bd)d)jd)Zd5@HK@ZUY>ZUY>ZU\˷@ZU#?a)a eL=iel9)imC4iiiiqqqIqIyIgA)fA)@) @1@54@1IQIiO}>1Y N,\ ۻ?AEB EBZEBKE@"EB,K;*EB;VEB5ZE@aJ@aJ@aJ@aJ@R@R#@RiWٱRa8 ^AHRS rotation from veh to nav: [[-0.697980,-0.715746,-0.023054],[0.715997,-0.696909,-0.040816],[0.013147,-0.044995,0.998901]]RHUd`ur?M@夿 ? ?iR@IR" ^;RCYfByfSIbDnVDnkyv-%vY=ٔvڻQ-z>9xYx=z^Fyx~<E~>Q 5 4Z՜?Q 9 4)mHBY y "?Q I?#pCI-:i:g4yɮA=B*** querying acoustic contact ***i9 i9MDNOT Ignoring new targets: 35.14 m.hIhI*hI"hI hQgQfQfQfQddjdZd` L@ZZZZ"?iW1)9 =X =i=!9)AE4AiAiQQQIYIY]2Acoustic response timeout]Querying Benthos address 50 with one ping in standard two-way mode.@ @@ 4@IIO >aBA<B>BBfIBȀBB =BBB;B7Eԉi I  (DAT read: user:50>  BDAT read: Tx time:04:04:59.6311  $Ping request sent. 9yY=^Fy3T;E>Q 54Ӝ?Q 94])uHBYyO?Q I?:pCI;i;4yɮ7ADNOT Ignoring new targets: 35.14 m.hh*h"h1 h1g1f9f9f9d9dAjdAZdE@OL@ԑZZZZO?<]) echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250698 M+,@ۻ?A$ɰ&;F5@F+@FeٱF8 NAHRS rotation from veh to nav: [[-0.700083,-0.713711,-0.022375],[0.713924,-0.698989,-0.041553],[0.014017,-0.045065,0.998886]]FHg閿v?^nF?@@?iF5@IF];FCYVByV3IimMb@Mb@Mb@iiii i9mK7A`?EԸ~jth?Ym+>ymƽmD;m Am@ mOA)mAiYmAbDVDyɽ%F=ٔtQ->9Y=^Fy%;E>Q 54ќ?Q 94\)yHBchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502736YE>Q E;y?Q I?NpCIk;ij; 4yɮADNOT Ignoring new targets: 35.14 m.hh*h"h hgfffBd d jd Zd ځL@Z-E>Z-E>Z-"9@Z-K?Ee)A Eu=iE9)AM{4IiIiIQQIQIY9@ @@/@IIO>E  EE4E"ED;*E:VE4ZEa@a@a@a@I m >m :?u checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755312B >B )CB _IB ÀBB =B B DB ;B 7EX,|Zۻ?Aj@@js6@jgٱj#m8 vAHRS rotation from veh to nav: [[-0.700558,-0.713250,-0.022220],[0.713456,-0.699464,-0.041614],[0.014139,-0.045006,0.998887]]jH j?b yN`? ?ij@@IjP];hY~By/IbDVDJy%%%Q=ٔ%Q-->9)Y)=-^Fy)5:E5>9Q 5E4=`М?Q 9E4=p)=}HBYAyE)?Q IM?=bpCI= :i=:=4yQɮUAQDNOT Ignoring new targets: 35.14 m.hh*h"h hgfffdd jd Zd @L@Z)Z)Z)Z-)?=g)A EpY=iE}9)AE\4AiAiIQQIQIQi9@ @@@IIOchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006712ԑE  E E .E "E B;*E :VE ـ4ZE BE wy什DA ) AYAbDVD:2y3%B=ٔ"9Q->9Y=^Fy:E>Q 54WϜ?Q 94)~HBY>Q E;y?Q I?rpCIP ;i ;4yBɮADNOT Ignoring new targets: 35.14 m.hh*h"h hgfffqBddjdZdL@Z->Z->Z-{@Z-?mf)q u\=iu9)y}4yiyiII u9@q @q@}/@yIIO=>)checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514570Q g,Gۻ?AbEm-4jEmt4rEmm2E6  E6E6/E4"E6G;*E6:VE6J4ZE4a:@a:@a:@a:@>F@><@>cٱ>7 JAHRS rotation from veh to nav: [[-0.700825,-0.712984,-0.022297],[0.713198,-0.699742,-0.041363],[0.013889,-0.044891,0.998895]]>H`)m`"Ֆ?`Hd-q?`?i>F@I>}];>C9YEByEI IIbDUVDUye%eP=ٔm9Q-m>9iYi=u^Fyquʘ9Eu>yQ 54}`Μ?Q 94}K)}HBYy?Q I?}pCI}l:i}:} 4yɮKADNOT Ignoring new targets: 35.14 m.hh*h"h hgfffddjdZdM@ZZZZu?c)  i=i 9)  4 i iIIechecking for new query: numPingsReceived=0, elapsed TxPingTime=1.768368G9@ @@0@I 9 Y `iAIO >iAAB>B*CBLIBBB =B>DBDB;Bd7Eԑ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018630,$ۻ?A2B@27@2\ٱ2ߚ8 :AHRS rotation from veh to nav: [[-0.700615,-0.713177,-0.022716],[0.713412,-0.699534,-0.041171],[0.013472,-0.045050,0.998894]]2H qk`YB@E? bM@?`?i2B@I2\;2CYNByRIbDZVDZ0yb]%bU=ٔb:Q-f>9dYd=f^Fydj%MEj>lQ 5r4np͜?Q 9r4n)nHBYpyv?Q Iv?npCIn;in:n'4yxɮzAxDNOT Ignoring new targets: 35.14 m.h!h!*h!"h! h!g!f!f)f)d)d)jd1Zd5MM@ZQZQZQZU?ԙ\) =i59)v4iiIIDyzD}@AE EE2E"EL;*E:VE4ZEBEޡ]?]<echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.270903 uy,mۻ?A6 5@6*@6b@Sٱ6^8 >AHRS rotation from veh to nav: [[-0.700056,-0.713714,-0.023111],[0.713972,-0.698991,-0.040700],[0.012893,-0.044993,0.998904]]6Hf ?!^֤@g?`X ?i6 5@I6];4YFyByFIiMb@Mb@Mb@ 9kt?Zd;~jthY =yy|A A)AY AbD-VD-N2y=rJ%=C=ٔE:Q-E>9AYA=M^FyIMEEM>QQ 5]4U̜?Q 9]4U)QYe=Q Ee;yeJ?Q Ie?UpCIUm ;iU;U.4yiɮmAiDNOT Ignoring new targets: 35.14 m.hh*h"h hgfff@BddjdZd΂M@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522807Zu=Zu=ZuQ@ZuJ?b@S) H=i9)顭5iiIII@I @I@M4@IIYIiO}>!E EE.E"E[I;*E:VEـ4ZEa@a@a@a@Qu checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774664B >B +CB -IB BB =B B B ;B l7Eԡ ,ۻ?Aɰ:(@:@:Hٱ:9 FAHRS rotation from veh to nav: [[-0.699536,-0.714204,-0.023698],[0.714492,-0.698480,-0.040336],[0.012256,-0.045148,0.998905]]:H@b 6D?Y@㦤v?@?i:(@I:%];8YvlByvI|~@AbD~VD~ky π% M=ٔ:Q->9Y=^FyE>!Q 5-4%L̜?Q 9-4%Q =-tI)%HBY1y52?Q I5?%pCI% ;i%X ;%54y9ɮ=[AAmDNOT Ignoring new targets: 35.14 m.hihi*hi"hi higqfqfqfqdydyjdyZd}ٵM@ZZZZ2?H) =i-9)顽Z 5iiIIqI@I @I@M/@IIYIqO}=BDAT read: Rx Time:04:05:02.0923 TRx dataTimestamp_ set to:1761537903.592113checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027692ԙE  E E 0E "E sH;*E :VE 4ZE BE 9Y=^FyN@E>Q 54̜?Q 94)HBY =Q E <DAT read: 04:05:02.0923 LVL= 21040, 17201, 27346, 28643, AGC= 59, IDX= 21, 0.31,-2.739,-1.681, 2.781,-2.255, PHS=-0.382, 0.619,-1.291, RAW= 358.4, 12.7, CAL= 358.8, 15.2, ROT= 151.2, -15.2 Ygot valid direction response: 04:05:02.0923 LVL= 21040, 17201, 27346, 28643, AGC= 59, IDX= 21, 0.31,-2.739,-1.681, 2.781,-2.255, PHS=-0.382, 0.619,-1.291, RAW= 358.4, 12.7, CAL= 358.8, 15.2, ROT= 151.2, -15.2 PDAT read: Bearing 92.0, 26.5 (Local) ~Local bearing/azimuth received: Bearing 92.0, 26.5 (Local) %DAT read: Range 11 to 50 : 42.8 m (Round-trip 57.1 ms) speed -0.1 m/s -R#Rx 1: Read range and direction messages.5^direction in FSK: [-0.845650,0.464900,0.262189]5Fpublishing direction and range infoyO][?;f$?Y3+B0R1Cj o);Iþiv?}?+@b>Hd@ ԇ>)[(@Iԇ=¥ZhdP? )bI[(@iԇ) Q ,Zܻ?AE" E"E"/E "E"1A;*E":VE"J4ZE a&@a&@a&@a&@>@>6@>8.ٱ>,c8 FAHRS rotation from veh to nav: [[-0.697610,-0.716047,-0.024830],[0.716398,-0.696600,-0.039006],[0.010633,-0.044999,0.998930]]>H@Rl?JDž? =?i>@I>];>CYjaBynIbDvVDv0y~p%~V=ٔ~;Q-~>9Y=^Fy|E > Q 54 ˜?Q 94 ) HBYy?Q I? pCI ;i ;  D4y!ɮ-A)iiܻ?AJis*BRis*Bji!@b,gB9[V3@I:XX&@RO][?;f$?Zi[(@biԇj3V%Z%@/DY#@Z71?n!B?2i4 :i*A"iO?*i;5Bi'Bi>Q ,i)ܻ?A2@2x@2ٱ2 :9 >AHRS rotation from veh to nav: [[-0.696666,-0.716934,-0.025728],[0.717331,-0.695674,-0.038395],[0.009628,-0.045204,0.998931]]2H K@lX_?`B ~?$>?i2@I2];2CYFVByFI HHlbDNVDNkyve\%vL=ٔv$;Q-z>9xYx=z^Fyx~XE~>Q 5 4˜?Q 9 4Y)HBY y ?Q I?pCI):i:K4yɮAMDNOT Ignoring new targets: 42.61 m.hIhI*hI"hI hQgQfQfYfYdadajdaZde?ZZZZ?)  e=i9)页5iiIIEU EUEU1EQ"EU:;*EU-:VEU-4ZEQBEU2A ~,DCܻ?A2Y@2@2 ٱ2eu9 :AHRS rotation from veh to nav: [[-0.695686,-0.717856,-0.026511],[0.718294,-0.694719,-0.037687],[0.008637,-0.045261,0.998938]]2H@C`@%B?";K?m,L?i2Y@I2];0YRXByRIi-Mb@Mb@Mb@)))) )9-~jt?+=ٔv;Q->9Y=^FyQE>Q 54$̜?Q 94)HBY(?=Q EIEe EeEe0Ea"Ee8;*Ee:VEe4ZEaam@am@am@am@qԡ B- >B- 'CB- IB- gBB- =B) B- DB- ց;B- 7Ej,]]ܻ?AY~QByIbDVD y%%%R=ٔ%Q-%>9)Y)=-^Fy)-E5>1Q 5=45̜?Q 9E45g)5HBYAyAQ IE?5pCI5;i5;5[Y4yIɮM5AQYDNOT Ignoring new targets: 42.61 m.hh*h"h hgfffddjdZd?ZZZZ!)! %$=i%9))-$5)i)i111I1I99@ @@3@IIO>ԑԹEU  EU EU /EQ "EU a?;*EU :VEU J4ZEQ BEU @>@>ѻٱ>$8 FAHRS rotation from veh to nav: [[-0.693597,-0.719816,-0.028065],[0.720335,-0.692698,-0.035889],[0.006393,-0.045109,0.998962]]>H 1 ?*``@/z?@~?i>@I>];9yYy=}^FyyE>Q 54̜?Q 94)HBYnN=Q E!Q $,^֐ܻ?AE EE*E"EB;*E:VE(N4ZEa@a@a@a@>b@>@>ċٱ>8 FAHRS rotation from veh to nav: [[-0.692717,-0.720635,-0.028800],[0.721190,-0.691848,-0.035084],[0.005357,-0.045074,0.998969]]>H*@p}? # qu?`?i>b@I>x];9hYh=n^FylMKEM>QQ 5]4U̜?Q 9]4Ue)UHBYYy]m?Q Ie?UpCIU;iU;Uwg4yiɮm.AiDNOT Ignoring new targets: 42.61 m.hh*h"h hgfffddjdZd`@ZZZZmm?ċ) =ik9)505iiII19@ @@/@IIO=AAAAB>BBIBXBB =BBB;B7Eaԉi I AԹ -*,pܻ?A2@2Jv@2ٱ2y8 :AHRS rotation from veh to nav: [[-0.692204,-0.721100,-0.029461],[0.721688,-0.691360,-0.034469],[0.004487,-0.045121,0.998971]]2H&@+? ޥ`r??i2@I2];2CYBQByBIbDJVDJyR %VM=ٔV;Q-V>9XYX=Z^FyX^iE^>dQ 5j4f!͜?Q 9j4f)fHBYlyn]?Q Ir?fpCIff;ifm^;f8n4yxɮz1Ax5DNOT Ignoring new targets: 42.61 m.h1h1*h1"h1 h1gfffddjdZd`G @Z Z Z Z ]?])Y ]ܻ=ieN9)ae565aiaiiiiIiԑIE=  E= E=-E9"E=E;*E=:VE=t4ZE9BE= v1,ܻ?A2v@2Bl@2oٱ2?8 :AHRS rotation from veh to nav: [[-0.691765,-0.721499,-0.030024],[0.722114,-0.690947,-0.033825],[0.003660,-0.045079,0.998977]]2H" ?`< vQ m??i2v@I2W];2CYZ\By^IiEMb@Mb@Mb@AAAA A9EQ?ˡE~jt?YE\=yE'E=ٔmo:Q-m>9yYy=}^FyyE>Q 5 4M͜?Q 94P)HBYj=Q EhbEJ4jE4rEōH0E= E= E=.E9"E=sH;*E=:VE=ـ4ZE9aM@aM@aM@aM@ !9Q}9yY}N@! % =A B >B B IB SBB =B B DB ;B 7E?7,fhܻ?A46Cs@6h@6G=ٱ6Z9 BAHRS rotation from veh to nav: [[-0.691617,-0.721611,-0.030700],[0.722258,-0.690816,-0.033406],[0.002898,-0.045278,0.998970]]6H!qo?@* Fg?@.?i6Cs@I6];6CYJcByJIbDRVDR0yZ"=%ZW=ٔ^\;Q-^>9`Y`=b^Fy`bEb>dQ 5j4ft͜?Q 9j4f)fHBYlyn?Q In?fpCIf;if;fZ|4ypɮrAtDNOT Ignoring new targets: 42.61 m.hh*h"h hgff!f!d!d!jd!Zd- V @ZIZIZIZMӀ?]G=)Y ]ܙ=ie#9)ae>5aiaiiiiIiIq9@ @@/@I!I1O==ԑԹEU  EU EU /EQ "EU C;*EU r:VEU J4ZEQ BEU ?r@>@h@>5ٱ>y : JAHRS rotation from veh to nav: [[-0.691591,-0.721614,-0.031230],[0.722286,-0.690805,-0.033040],[0.002268,-0.045407,0.998966]]>H!`v?꠿Ŕb?@??i>r@I> ];>CXYzYBy~IiMb@Mb@Mb@ 9{Gz?V-:v?Y#=ym<@ )YAbDVDky fA% 6=ٔ :Q- >9Y=^FykE>Q 5%4͜?Q 9-4)HBY-͙=Q E-0RDAT read: user:51>Rx Time:04:05:06.6815 TRx dataTimestamp_ set to:1761537908.1282269 QQD,ݻ?AE EE.E"EQ;*E-:VEـ4ZEa@a@a@a@ ɰ >Xu@>j@>%ٱ> 9 FAHRS rotation from veh to nav: [[-0.691711,-0.721489,-0.031462],[0.722173,-0.690941,-0.032669],[0.001832,-0.045318,0.998971]]>H@~"p ?0@^?3?i>Xu@I>đ];>CYNdByNIbDVVDVfy^tu=%bc=ٔb:Q-b>9`Yd=f^Fydf9Ef>hQ 5n4j^Μ?Q 9n4jV)jHBYpyrE?Q Ir?jpCIj;ij;j|4ytɮvYAtDNOT Ignoring new targets: 42.61 m.hhY*h"h hgfffddjdZd\@ZZZZE?=%)A E=iE9)AEF5AiIiIIQIQIQeV>ie!>9@ @@1@II)O= >Bm<Am<ԉB}>ByByByB} =ByB}DB};B}7EԱ DAT read: 04:05:06.6815 LVL= 24048, 22449, 32754, 32755, AGC= 60, IDX= 342,-0.03, 2.454,-2.755, 1.686, 2.964, PHS=-0.409, 0.609,-1.322, RAW= 358.2, 13.3, CAL= 358.6, 16.2, ROT= 151.4, -16.2  Ygot valid direction response: 04:05:06.6815 LVL= 24048, 22449, 32754, 32755, AGC= 60, IDX= 342,-0.03, 2.454,-2.755, 1.686, 2.964, PHS=-0.409, 0.609,-1.322, RAW= 358.2, 13.3, CAL= 358.6, 16.2, ROT= 151.4, -16.2  6DAT read: bearing request  Dreceived a bearing request message BDAT read: Tx time:04:05:08.2843  $Ping request sent. G@ Ð>) )@I Ð z(hoAv꿵t? ) anI )@i ÐU :publishing transmit ping time ] :publishing range request flag y y  fm-꿟yk?? ) I i ) I z(hoAv꿵t? ) I i ?|J,+ݻ?AVy@Vn@V?3źٱVk8 %AHRS rotation from veh to nav: [[-0.691875,-0.721330,-0.031504],[0.722016,-0.691123,-0.032270],[0.001505,-0.045073,0.998983]]VH@#"`;!`?ಅ@gX? @?iVy@IV];VCY5iBy5IbDmVDmN2y$<%==ٔF:Q->9Y=^Fy^ :E>ԹQ 54Μ?Q 94)HBYyN?Q I?pCI;id; 4yɮ0AUDNOT Ignoring new targets: 42.61 m.hQhQ*hY"hY hYgYfYfafadadajdaZdm`X@ZZZZAN??3ź) =i!9)L5iiI ID1zD1EE  EEEE/EA"EEG;*EE :VEEJ4ZEABEE*  <9 cQ,,Eݻ?A2@2y@2%ٱ2M8 :AHRS rotation from veh to nav: [[-0.692361,-0.720863,-0.031510],[0.721550,-0.691617,-0.032128],[0.001367,-0.044980,0.998987]]2H`'N "? ! s@dV?`?i2@I2];2CYNrByRIiUMb@Mb@Mb@QQQQ Q9U#~j? rhZd;O?YU=yUCUj9Y=^Fy8:E>Q 54Μ?Q 94t)HBY=Q E;y?Q I?pCI:i:4yɮADNOT Ignoring new targets: 42.61 m.hh*h"h hgfff^BddjdZd =@Z=Z=Zζ@Z?5%)1 5#=i5s9)9=N59i9iAAAIAII9@ @@p3@IIO >AEE EEEAEA"EEa?;*EEV:VEAZEAaM@aM@aM@aM@qBu >Bq Bu IBu ]BBu =Bq Bq Bu ؁;Bu 7EBM'CBM'CBMʓCBM =BM =CMʮF6ԙ YW,>_ݻ?A2i@2@2(ٱ27 :AHRS rotation from veh to nav: [[-0.692947,-0.720304,-0.031412],[0.720987,-0.692210,-0.031984],[0.001294,-0.044811,0.998995]]2H,@ @FS?`&2`d4U?@y?i2i@I2];2CYNfByRI TT V9xYx=z^Fyxz ;E~>Q 54VΜ?Q 9 4f)HBY y ?Q I ? qCI:i:ß4yɮCAEDNOT Ignoring new targets: 42.61 m.hAhA*hA"hA hAgIfIfIfIdQdQjdQZdU@ZqZqZqZu?%()! -YԡDI DM <EU " EU EU (EQ "EU Z;*EU :VEU c44ZEQ BEU 99Y9==^FyAE ;EE>IQ 5U4M͜?Q 9U4M)MHBY]y >Q E];y]?Q I]?MqCIM] ;iMH:M4yaɮeAaDNOT Ignoring new targets: 42.61 m.hh*h"h hgfffcBddjdZdď@Zy >Zy >ZV@Z?2) ! id,cݻ?AE& EE.E"E8^;*E:VEـ4ZEa@a@a@a@ >@>'@>j`ٱ>I8 FAHRS rotation from veh to nav: [[-0.694535,-0.718773,-0.031388],[0.719457,-0.693788,-0.032244],[0.001399,-0.044977,0.998987]]>H9 1` ?3@= V?5?i>@I>];>CYNwByNIbDVD0y<%W=ٔ!Q->9Y=^Fy%a;E%>)Q 554-b͜?Q 954-)-IBY1y5?Q I5?-%qCI-y:i-:-4yAɮEAAmDNOT Ignoring new targets: 42.61 m.hihi*hi"hq hqgqfqfqfydydyjdyZd@ZZZZ(?j`) H=is9)顽S5iiII?BBIBmBB =BBB;B7Eԙ -j,Eݻ?ABX@B@BqɺٱB 8 NAHRS rotation from veh to nav: [[-0.695229,-0.718110,-0.031219],[0.718787,-0.694478,-0.032332],[0.001537,-0.044918,0.998990]]BHP?@@M?*9ʍ1.Y?v?LiBX@IBv];BCYV}ByV I\^AAbDbVDbyj#<%jN=ٔj\Q-j>9lYl=n^Fylr~;Er>tQ 5z4v̜?Q 9z4v;)v IBYxyz?Q Iz?v2qCIvc! q,Tݻ?A2@2@2nպٱ2a8 :AHRS rotation from veh to nav: [[-0.695999,-0.717361,-0.031272],[0.718041,-0.695238,-0.032577],[0.001628,-0.045128,0.998980]]2HE0?c?`@ϭZ??i2@I2N];2CY^wBybI|iAIAiUMb@Mb@Mb@QQQQ Q9US㥛?I +Mb?YU$>yU9U9Y=_Fy'";E>Q 54˜?Q 94x)IBYm">Q E;yj?Q I?DqCI;i;w4yɮADNOT Ignoring new targets: 42.61 m.hh*h"h hgf!f!f%|Bd!d)jd)Zd-JX@ZMm">ZMm">ZM$"@ZMj?enպ)a eiej9)amiiiiiqqIqIy)@) @)@-_0@)I9IQO]>aEE EEEE.EA"EE;;*EE:VEEـ4ZEAaM@aM@aM@aM@qB >B B IB rBB =B B DB ;B i7Eԡ w,#ݻ?A6@6@6~3 ٱ6Q8 >AHRS rotation from veh to nav: [[-0.696922,-0.716486,-0.030771],[0.717144,-0.696149,-0.032883],[0.002139,-0.044984,0.998985]]6H/Mu X`?F` ֠na?!`?i6@I6N];6CYDyDbDNVDNٔVqQ-Z>9XYX=Z_FyX^d;E^>`Q 5f4bʜ?Q 9f4b)bIBYdyf?Q If?bSqCIbN:ib$:b…4ylɮllDNOT Ignoring new targets: 42.61 m.hh*h "h  h g f ffddjdZd`@Z1Z1Z1Z59?M~3 )I IiI)QQQiQiYYYIYIaԁ@ @@4@I!I1OE=ԡEU  EU EU /EQ "EU 9;*EU :VEU J4ZEQ BEU y^T< A@ fA)YAbDVD:y<;%<ٔQ->9Y=_FyN';E>Q 54ɜ?Q 94)$IBY+>Q E;y?Q I?fqCI ;i;ʅ4yɮA-DNOT Ignoring new targets: 42.61 m.h)h)*h)"h) h)g1f1f1f5Bd9d9jd9Zd=u@Z+>Z+>Z0@Z/? e)  ƣi9)iiII!@ @@4@IIO)>!Q ,޻?AbEFGjEȂ4rE#e0E. E.PE.1E,"E.<;\*E.:VE.-4ZE,aj@an@an@an@v 9tYvlAun @u @u9.ٱuc8 AHRS rotation from veh to nav: [[-0.698383,-0.715077,-0.030433],[0.715719,-0.697588,-0.033415],[0.002665,-0.045118,0.998978]]uH 'Y ) ,?`R``ee??iun @IuG];uCYrByIbDVDy %K=ٔ+Q->9Y=_Fy;E>Q 54Ȝ?Q 94X)+IBYy?Q I?wqCI:i:х4yɮADNOT Ignoring new targets: 42.61 m.hh!*h!"h! h!g!f!f)f)d)d)jd1Zd5@ @9ZaZaZaZe?9.)  i9)顝aiiIIB<A4<B>BBIBwBBBBB;B]7E9@ @@/@IIO">aԑԹ , .޻?A2@2f@2q=Cٱ28 :AHRS rotation from veh to nav: [[-0.699009,-0.714476,-0.030172],[0.715106,-0.698205,-0.033654],[0.002979,-0.045101,0.998978]]2HH^@a垿&? W (;gh?w?i2@I2l];2CYBzByBIbDJ VDJ2yR1=%R^=ٔV`Q-V>9TYT=V_FyXZ";EZ>\Q 5b4^ǜ?Q 9b4^Ŀ)^2IBY`yf?Q If?^qCI^g:i^:^؅4yhɮjAh~DNOT Ignoring new targets: 42.61 m.h|h*h"h hgff f d d jdZd-U!@Z1Z1Z1Z5?Eq=C)A E|iM9)IM7IiIiQQQIQIYԑ9@ @@/@I!D1zD5@AE= E=E=-E9"E=B;*E=:VE=t4ZE9BE=wyeQeD9Y=_Fyo;E>Q 54{Ɯ?Q 94)9IBY&>Q E;yd?Q I?qCI;i;߅4yɮADNOT Ignoring new targets: 42.61 m.hh*h"h hgfff[BddjdZd3"@Z&>Z&>Z>@Zid?-^)1 #=i9)页:屉iiIIM9@I @I@I@IIYIiO}>9EE EEEAEA"EEa?;*EEd:VEAZEAaU@aU@aU@aU@=%=i B >B B IB rBB B B B ;B v7E*,>b޻?A 29@2x/@2G%yٱ2(#9 >AHRS rotation from veh to nav: [[-0.700319,-0.713217,-0.029594],[0.713820,-0.699486,-0.034354],[0.003802,-0.045184,0.998971]]2HiM?@0b閡$o?U"?i29@I2];0YFnByFIbDNVDNyV;%VZ=ٔV/Q-Z>9XYX=Z_FyX^;E^>`Q 5f4bŜ?Q 9f4bb)b?IBYdyf?Q Ij?bqCIb:ib:b84ylɮnAlDNOT Ignoring new targets: 42.61 m.hh*h"h hgfffddjdZd`"@ZZZZ!? G%y)  =i 9)  $1ii199I9I9q9@ @@/@IIO >ԙDI DI EU  EU EU /EQ "EU D;*EU :VEU J4ZEQ BEU КyjT< A@ )9AYAbDVD:y%Ib%-4=ٔ-?Q-->91Y1=5_Fy1=:E=>9Q 5E4=\Ĝ?Q 9M4=v)=HIBYM(>Q EM;yM?Q IM?=qCI= ;i= ;=%4yYɮ]jAYDNOT Ignoring new targets: 42.61 m.hh*h"h hgffflBddjdZd@#@Z(>Z(>Z@Zܹ?Up) ƣi9)1iiII]9@Y @Y@Y@YIiIO9> ;,޻?AE EE,E"E[I;*E:VEg4ZEa@a@a@a@B M@BB@B=ٱB8 JAHRS rotation from veh to nav: [[-0.701156,-0.712418,-0.028993],[0.712994,-0.700307,-0.034765],[0.004463,-0.045047,0.998975]]BHo!Y`?@h̡Gr?n ?iB M@IB];BCYR]ByRI TTbDZVDZܲyfϼ%fd=ٔfXqQ-f>9hYh=j_Fyhj9:En>pQ 5r4rsÜ?Q 9v4r)rNIBYtyv?Q Iv?rqCIr:ir:rf4yxɮ~A|-DNOT Ignoring new targets: 42.61 m.h)h1*h1"h1 h1g1f1f9f9d9dAjdAZdE@$@ZaZaZaZe8?u=)q u i}9)y顅iiIII)9@ @@4@I!I9OE=AQAU@AB]>BYB]IB]mBB] =BYBYB];B]7EB!B!B!B% =B% =C%Ä5)Qԁ f,[ѯ޻?A2W@2L@2ٱ2j8 :AHRS rotation from veh to nav: [[-0.701585,-0.712007,-0.028702],[0.712569,-0.700728,-0.035000],[0.004808,-0.045008,0.998975]]2H cs@@d^?]l롿Rs?@D ?i2W@I2\;2CYN[ByRIbDZVDZy%*%%E=ٔ%YQ-%>9)Y)=-_Fy)-:E5>1Q 5=45cœ?Q 9E450)5VIBYAyE?Q IE?5qCI5;i5;54yIɮUAQYDNOT Ignoring new targets: 42.61 m.hh*h"h hgfffddjdZdg%@ZZZZ:?) i9)iiIID)zD)E=  E=E=.E9"E=C;*E=1:VE=ـ4ZE9BE=9Y=_Fy:E>Q 54?Q 94)]IBY>Q E;yC?Q I?qCI ;i ;4yɮAԹDNOT Ignoring new targets: 42.61 m.hh*h"h hgfffUBddjdZd<&@Z >Z >Z ִ@Z C?%?0)! %i%j9))-)i)i111I1I99@ @@/@IIO>EE EEEE+EA"EEUS;*EE#:VEE [4ZEAaM@aM@aM@aM@BU >BQ BU IBU bBBU =BQ BQ BU ;BU 7E9 x,7޻?Aɰ;2h@2O^@2$ٱ2 9 :AHRS rotation from veh to nav: [[-0.702352,-0.711263,-0.028418],[0.711810,-0.701474,-0.035499],[0.005314,-0.045161,0.998966]]2H`y@@&?zr,u?f?i2h@I2\;0YRHByRIIV<)V<bDZVDZ1yvE%vT=ٔvNQ-v>9xYx=z_Fyxz:E~>Q 54?Q 9 4O)eIBY y S?Q I ?qCIN:i[: 4yɮ2AEDNOT Ignoring new targets: 42.61 m.hAhA*hA"hA hIgIfIfIfIdQdQjdQZdU'@ZqZqZqZuS?E$)A MPͼiM9)IMбIiIiqIIa>iM9@I @I@M/@IIaIyO>AqEU & EU EU 0EQ "EU 8^;*EU :VEU 4ZEQ BEU 9aYa=e_Fyam:iEu>qQ 5}4u?Q 94u)ukIBY >Q E;y?Q I?urCIuH:iu:u4yɮwADNOT Ignoring new targets: 42.61 m.hh*h"h hgfffJBddjdZd'@Z >Z >Z@Z\?) ƣi9)  = i iII9@ @@/@IIO>ԙ ,;߻?AE&! E&E&2E$"E&Y;*E&:VE&4ZE$a*@a*@a*@a*@:t@:|j@:ٱ:8 FAHRS rotation from veh to nav: [[-0.702879,-0.710755,-0.028075],[0.711287,-0.701992,-0.035759],[0.005707,-0.045103,0.998966]]:H}` ?v N`w? ?i:t@I:n];:CYN8ByNIbD5VD5 8yM1%M^=ٔUٹQ-U>9QYQ=]_FyYe@L:Em>qQ 5}4uP?Q 94ud)upIBYy?Q I?urCIuI;iuJ;u4yɮADNOT Ignoring new targets: 42.61 m.hh*h"h hgfffddjdZd&(@ZZZZ\?-)1 5`i59)页ΦiiIIBA<BBBIBSBB =BBB;B7E9@ @@/@IIO>) ۳,1߻?A6z@6o@6ٱ6q8 >AHRS rotation from veh to nav: [[-0.703102,-0.710543,-0.027877],[0.711065,-0.702213,-0.035830],[0.005883,-0.045014,0.998969]]6H@üË@ ? xQX x?" ?i6z@I6\;4YF5ByFI HHbDNVDNyV p%VU=ٔZQ-Z>9XYX=^_Fy\^mW:E^>`Q 5f4b?Q 9f4b )buIBYhyj?Q Ij?b"rCIbd:ib:b4ylɮnApDNOT Ignoring new targets: 42.61 m.hh*h"h hgfffddjdZd`v)@Z Z Z Z !?)! %h*i%9)!%!i!i)))I)I19E] E]E].EY"E]N;*E]:VE]ـ4ZEYBE]oԡ ,^J߻?A2؁@2tw@2Bǻٱ2h8 :AHRS rotation from veh to nav: [[-0.703440,-0.710211,-0.027791],[0.710728,-0.702541,-0.036066],[0.006090,-0.045123,0.998963]]2H@ ^uI? 8{Cw x?N?i2؁@I2%];2CPYR1ByRIi5Mb@Mb@Mb@1111 195(\µ?DlI +?Y5=y5O594<5 A5A 5A)5A1Y5AbDMVDM yØ%:=ٔYQ->9Y=_Fy;:E>Q 54?Q 94Ȯ){IBYX=Q E;y?Q I?.rCI]:iE:b&4yBɮAE%DNOT Ignoring new targets: 42.61 m.h!h!*h!"h! h!g!f)f)f-TBd)d1jd1Zd5K*@ZUX=ZUX=ZU=@ZU?eBǻ)i m\im9)imGiiiiqyyIyIy9@ @@0@IIO > CUGiy-9YAygX?,EAbEـ4jE#4rE).0Ee Ee Ee0Ea"EeM;*Ee:VEe4ZEaau@au@au@au@BBBIB?BBBBB;BX7E! [,d߻?A6҂@6nx@65Ȼٱ68 >AHRS rotation from veh to nav: [[-0.703482,-0.710170,-0.027774],[0.710686,-0.702583,-0.036081],[0.006110,-0.045121,0.998963]]6H൹p`?{,y y??i6҂@I6\;6CY^'BybIbDjVDjyrA%rZ=ٔrp^Q-r>9tYt=v_Fytv&9Ez>x|Q 54zŽ?Q 94z)zIBY y ?Q I ?z9rCIzW-;izS.;z,4yɮAEDNOT Ignoring new targets: 42.61 m.hAhA*hA"hA hAgAfIfIfIdIdQjdQZdU +@ZqZqZqZu?5Ȼ) i9)額iiII59@1 @1@54@1IAIQO]=)QEu  Eu Eu .Eq "Eu y>;*Eu :VEu ـ4ZEq BEu T9yY=_Fy9E> Q 54 S?Q 94 ) IBYL=Q E ԩ ,߻?AE EE-E"E1A;*E:VEt4ZEa@a@a@a@^@^~{@^ &˻ٱ^8 jAHRS rotation from veh to nav: [[-0.703615,-0.710043,-0.027652],[0.710554,-0.702716,-0.036098],[0.006200,-0.045048,0.998966]]^H` Pܼ?|w{dy??i^@I^\;^CYvByzIbD VD ܲy-Ż%-c=ٔ-k8Q-5>91Y9==_FyAEF8EE>IQ 5U4M?Q 9U4M)MIBYQԹyU?Q I?MMrCIM˪9 ", b߻?A6 @6~@69̻ٱ608 BAHRS rotation from veh to nav: [[-0.703752,-0.709907,-0.027667],[0.710418,-0.702848,-0.036204],[0.006256,-0.045134,0.998961]]6H#Tྻ?@}P |y?}?i6 @I6\;6CYFByFIbDRVDRyV%ZR=ٔZ4Q-Z>9\Y\=^_Fy\b:Eb>dQ 5f4f?Q 9j4f)fIBYhyj?Q Ij?fVrCIf:if$:fB4ypɮrAp DNOT Ignoring new targets: 42.61 m.h h *h "h  h gfffddjdZd%t-@Z9Z9Z9Z=?U9̻)Q U`9Y=_Fy!E>Q 54?Q 94)IBY=Q EEU EUEU/EQ"EUV;*EU:VEUJ4ZEQa]@a]@a]@a]@u%=uC=BBBIB BB =BBB~;BK7EBQBQBQBU =BU =CU4) Q $, ߻?A2Ё@2lw@2Żٱ2 8 :AHRS rotation from veh to nav: [[-0.703439,-0.710212,-0.027787],[0.710730,-0.702544,-0.035978],[0.006030,-0.045057,0.998966]]2HOtL? >{k̲x??i2Ё@I2\;2CYNByNIbDVVDVyr"%rV=ٔv9Q-v>9tYt=v_FytzkEz>|Q 54~}?Q 94~ߨ)~IBYy ?Q I ?~hrCI~:i~:~?P4yɮADNOT Ignoring new targets: 42.61 m.hh*h"h hgfffddjdZdC/@Z Z Z Z L?=Ż)9 =i=9)AE%AiAiIIIIIIq)9@ @@ 0@ II)O5 >Q E%  E% E% 1E! "E% [I;*E% :VE% -4ZE! BE% 9Y=_FyۧE>Q 54?Q 94)IBY=Q E;!Q ',J?A*4<ɰ(EN1 ELEN/EL"EN2h;*ELVENJ4ZELaR@aV@aV@aV@bt@bj@b̫ٱb8 nAHRS rotation from veh to nav: [[-0.702884,-0.710744,-0.028243],[0.711284,-0.702000,-0.035653],[0.005514,-0.045149,0.998965]]bH~j뜿?vArv??ibt@Ibt\;bCYv ByvIbD~VD~y E`% k=ٔ :Q- ?9Y=_Fy E?!Q 5-4%к?Q 9-4%f)%IBY)y--?Q I-?%wrCI%6:i%d:%r^49y9ɮEAAmDNOT Ignoring new targets: 42.61 m.hihi*hi"hi higqfqfqfqdydyjdyZd}G[0@ZZZZ-?̫) Сi9)顽$$iiIIB5<A1BIBIBMIBMBBM =BIBIBMv;BMC7EI@I @Q@U4@QIaIqO}=aԑԹ P ,?3?A2m@2fc@2Q㪻ٱ2(9 :AHRS rotation from veh to nav: [[-0.702573,-0.711041,-0.028496],[0.711592,-0.701697,-0.035456],[0.005215,-0.045188,0.998965]]2Hz{.]?MtO'c\u?" ?i2m@I29];2CYvByvIbD~VD~βy =% J=ٔA:Q->9Y=_Fy%E>!Q 5-4%{?Q 9-4%)%IBY)y5 ?Q I5?%~rCI%:i%B:%e4y9ɮ=A9eDNOT Ignoring new targets: 42.61 m.hahi*hi"hi higififqfqdqdqjdyZd}`0@ԙZZZZ ?Q㪻) i 9)顽4iiIID1zD1u9@q @q@u3@yIIO=E+ EE-E"Eb;*E:VEt4ZEBE9Y=_Fy%E>Q 54n?Q 94)IBYЀ=Q ER!E EE,E"EsH;*E:VEg4ZEa@a@a@a@B=>B9B=IB=BB9B9B9B=k;B=87EYy b,]g?A2i@2*_@2ۢٱ2 9 :AHRS rotation from veh to nav: [[-0.702390,-0.711210,-0.028786],[0.711775,-0.701516,-0.035382],[0.004970,-0.045341,0.998959]]2Hy`; z ?rv[t?6`y?i2i@I2\;0Y^By^IbDjVDj1yrs&%rU=ٔrt9Q-r>9tYt=v_Fytz7Ez>xQ 54za?Q 94zf)zIBYy=?Q I?zrCIz& ;iz2 ;zs4yɮ|A=DNOT Ignoring new targets: 42.61 m.h9h9*h9"hA hAgAfAfAfIdIdIjdIZdM@1@ZiZiZiZm0=?ۢ) 8i9)\ii  III!)!Y@ @@@i߹I߽AIIO>ԁԩDM %=DM %=E  E E .E "E *E ;:VE ـ4ZE BE =ٔ9Q->9Y=U_FyQ]ɸE]>aQ 5e4eS?Q 9m4e)eIBYiyiQ Im?erCIe:ie:ed{4yɮZAԱDNOT Ignoring new targets: 42.61 m.hh*h"h hgfffddjdZd@2@Z!Z!Z!Z%=?U1U)Q Udi]9)Y]qYiYiaaaIaIi@ @@@II)O5.>  ) A m 9i Ym N@9 bE]A{4jE]44rE]?/E]  E] E] -EY "E] D;*E] V:VE] t4ZEY am @am @am @am @&,K?A2zh@2^@2ޗٱ2]!: :AHRS rotation from veh to nav: [[-0.702344,-0.711243,-0.029084],[0.711822,-0.701477,-0.035201],[0.004635,-0.045426,0.998957]]2Hy`2ȝ`??r`r?Bt?i2zh@I2\;2CYB%ByBIieMb@Mb@Mb@aaaa a9eS㥫?Zd;O?Ye/]=yeLej9Y=_FywE>Q 54:?Q 94)IBY=Q E,BBBBBBDBn;B<7EyɮA%=DNOT Ignoring new targets: 42.61 m.hh*h"h hgff!f%IBd!d!jd)Zd- f2@ZM=ZM=ZM(@ZM?f?ޗ) \i9)Łii!!!I!I!@ @@/@IIO">!I Ξ,,?A 2$j@2_@2ǖٱ29 >AHRS rotation from veh to nav: [[-0.702417,-0.711175,-0.028999],[0.711751,-0.701555,-0.035077],[0.004601,-0.045278,0.998964]]2H2z۱?$sr? .?i2$j@I2\;2CYDyDHHbDNVDNNٔV8Q-Z>9XYX=Z_FyX^o9E^>`Q 5f4b!?Q 9f4b=)bIBYdyfh?Q Ij?brCIb6:ib:b4ylɮllDNOT Ignoring new targets: 42.61 m.hh*h "h  h g f ffddjdZdb2@Z1Z1Z1Z5h?ǖ) i9)ii  IIDzDAAE EE.E"EUS;*EL:VEـ4ZEBEZԡ 3,_?A2q@2f@29ٱ2Ϸ9 :AHRS rotation from veh to nav: [[-0.702718,-0.710877,-0.028986],[0.711453,-0.701854,-0.035153],[0.004646,-0.045325,0.998961]]2H|8?u@8s?@4~?i2q@I2\;2Ci@I@LYR.ByRIi-Mb@Mb@Mb@)))) )9-(\µ?V-:v?Y-=y-m-<)- A -|A)-A)Y-fAbDEVDE02yUl<%U<ٔUzٸQ-U>9YYY=]_FyYe:Ee>iQ 5m4mq?Q 9u4m)mIBYu^=Q Eu;yuX?Q I}?mrCIm ;im ;m4yɮA-DNOT Ignoring new targets: 42.61 m.h)h)*h)"h) h)g)f1f1f5aBd9d9jd9Zd=53@Z}^=Z}^=Z}@Z}yX?9) ̽i`9)页𗴉iiII@ @@E1@IIO-->E%- E% E%0E!"E%d;*E%:VE%4ZE!a-@a-@a-@a-@B>BBIBBB =BBB;Bg7E! 9,?A6Dv@6k@6Iٱ69 >AHRS rotation from veh to nav: [[-0.702943,-0.710656,-0.028960],[0.711231,-0.702080,-0.035140],[0.004641,-0.045299,0.998963]]6H~ g?ow$s?@e1?i6Dv@I6];6CYF+ByFIbDNVDNyVn%VU=ٔZS7Q-Z>9XYX=^_Fy\^ X:E^>`Q 5f4bѸ?Q 9f4b)bIBYhyjb?Q Ij?brCIbl:ib:b4ylɮnAp| DNOT Ignoring new targets: 42.61 m.h h *h"h hgfffddjd!Zd%3@ZAZAZAZEb?UI)Q ]ڽi]9)Y]YiYiaaaIaIi @  @@S4@I!I1O==!QE- 5 E- E- -E) "E- k;*E- j:VE- t4ZE) BE- 9iYi=_Fy:E>Q 54?Q 94)IBYyx?Q I?rCI ;i;ٞ4yɮA DNOT Ignoring new targets: 42.61 m.hh*h"h hgfffddjd!Zd%` 4@ZAZAZAZEx?UԱ E= $ E= E9 E9 "E= g\;*E= :VE9 ZE9 aM @aM @aM @aM @F,\?A2n@2 @2 ٱ2p>9 :AHRS rotation from veh to nav: [[-0.704076,-0.709552,-0.028497],[0.710106,-0.703201,-0.035470],[0.005128,-0.045210,0.998964]]2H@ˇg./?@)`ju?%?i2n@I2];2CYB3ByFIi Mb@Mb@Mb@     9 |?5^?L7A`尿V-?Y =B}<A}p<BBBIB%BBBBB;B}7EBABABABABACEp5Թy + <  A A A) OA Y AbDVD:y <% M=ٔ /Q- >9Y=_Fy;E>!Q 5%4%2?Q 9-4%)%JBY->Q E-;y-;?Q I-?%rCI%:i%:%4y9ɮ=A9eDNOT Ignoring new targets: 42.61 m.haha*ha"hi higifififulBdqdqjdyZd}`m4@Z>Z>ZӶ@Z;? ) Hi 9)iiII9@ @@/@II Oiߩ I߭ A9 L,76?A2l@2@2Pٱ29 :AHRS rotation from veh to nav: [[-0.704855,-0.708787,-0.028301],[0.709331,-0.703967,-0.035786],[0.005442,-0.045299,0.998959]]2H`+bֲ?@R Jv?d1 x?i2l@I2b)];2CYB9ByBIbDNVDNyR<%Vd=ٔVeQ-V>9XYX=Z_FyXZH;EZ>`Q 5b4bc?Q 9f4b)bJBYdyf_?Q If?brCIb:ib:b૆4yhɮntAlDNOT Ignoring new targets: 42.61 m.hh*h"h hg f f f ddjdZdk4@ZQZQZQZU_?uP)q ̽i-9)ʹii   II!E! EE,E"EY;*E]:VEg4ZEBE֬Aqԙ S,{P?A;ɰp;>z@>@>:ٱ>49 FAHRS rotation from veh to nav: [[-0.705677,-0.707984,-0.027890],[0.708509,-0.704780,-0.036049],[0.005866,-0.045199,0.998961]]>H@Χ@%?u9x?b$|?i>z@I>3];>CYR0ByRIi-Mb@Mb@Mb@)))) )9-`"?/$S㥛?Y-=y--/<)-"A - A)))Y-\AbDEVDEyU%U@=ٔUQ-U>9YYY=]_FyYe2;Ee>iQ 5m4mo?Q 9u4m)m JBYuX>Q Eu;yu?Q Iu?mrCIm;im;mP4yɮADNOT Ignoring new targets: 42.61 m.hh*h"h hgfffBddjdZd@v65@ZX>ZX>Z@ZU?:q)y }#i}59)y}6ⴉyiyiIIU9@Q @Q@U/@QIqIO>ԡE EE.E"E&U;*E:VEـ4ZEa@a@a@a@ByByB}IB}0BByByByB};B}7E Y,i?A2@2\@2(ϻٱ2h9 :AHRS rotation from veh to nav: [[-0.706595,-0.707081,-0.027559],[0.707590,-0.705683,-0.036440],[0.006318,-0.045249,0.998956]]2Hl`i8 ?@9yy?*r?i2@I2Q];2CYB3ByBIbDNVDNyRR9<%VV=ٔVQ-V>9XYX=Z_FyXZ^;E^>!Q 5-4%?Q 9-4%s)%-JBY1y5?Q I5?%rCI%^;i%L?;%74yAɮEAIDNOT Ignoring new targets: 42.61 m.hh*h"h hgfffddjdZd ќ5@ZZZZ\?(ϻ) hi49)RiiII9@ @@0@IIO=E  E E E "E P;*E :VE ZE BE 9dYd=f_Fyhj;X;Ej>pQ 5~4r?Q 94r)r9JBYy?Q I?rsCIr_Yԑ E  E 'E -E "E X;*E ";VE t4ZE a% @a% @a% @a% @u g,T?A >@>C@>ٱ>)8 JAHRS rotation from veh to nav: [[-0.708354,-0.705355,-0.026632],[0.705819,-0.707421,-0.037089],[0.007321,-0.045070,0.998957]]>H֪CaE?`0[}?\t?i>@I>o];>CYR/ByRI TTAAAAB B B B B  =B B B ;B 7EiMMb@Mb@Mb@IIII I9MMb?ʡEZd;O?YM>yM-Mj=ٔKQ->9Y=_FyK*;E>Q 54?Q 942)FJBY8 >Q E;y?Q I?sCIG;i;Ȇ4y!ɮ%A!mDNOT Ignoring new targets: 42.61 m.hihq*hq"hq hqgyfyfyf}qBddjdZd 2t6@Z8 >Z8 >Z@ZJ?) i9) i!i!!)I)I)y9@ @@4@II O*>ԙ ;m,=~?A2 @2@2ٱ2N8 >AHRS rotation from veh to nav: [[-0.709274,-0.704446,-0.026198],[0.704889,-0.708327,-0.037479],[0.007845,-0.045050,0.998954]]2H_ъӚs?g0 ?`n?`i2 @I2Q];2CYjBynIbD~VD~ܲyCҽ%S=ٔ%׶Q-%>9)Y)=-_Fy)5oc;E5>AQ 5M4E?Q 9U4E)EQJBYQyU@?Q I]?E&sCIE7_;iEC`;Ewφ4yiɮmfAiDNOT Ignoring new targets: 42.61 m.hh*h"h hgfffddjdZd6@ZZZZU@?) -i9)iiIID?AzD?AE. E/E.E"Eye;*EY;VEـ4ZEBEAHRS rotation from veh to nav: [[-0.710109,-0.703614,-0.025922],[0.704043,-0.709147,-0.037861],[0.008257,-0.045136,0.998947]]6H7@X?Vb"? _?i6 @I6;];4YbBybIiMb@Mb@Mb@ 9rh|?ʡE rh?Y=yC<x A  A)AYAbDVDyH;%A=ٔQ->9Y=_Fy9;E>Q 54?Q 94)ZJBY@>Q E;y?Q I?6sCI:is:ֆ4yɮaADNOT Ignoring new targets: 42.61 m.hh*h"h h g f f fwBddjd !!Zd->7@IG)U9QY]@Z@>Z@>Z\@Z? zI) R8i99)&Iii!I!QIQIYbEmـ4jEm4rEmL/E1 E6E/E"E2h;*E ;VEJ4ZEa@a@a@a@=9@9 @9@=3@AIQIaOmW>B%>B!B!B!B!B!B!B%;B%7Eyԡ Mz,4?A4<ɰ4<2- @2.#@2 ٱ2A8 >AHRS rotation from veh to nav: [[-0.710837,-0.702891,-0.025589],[0.703303,-0.709864,-0.038173],[0.008667,-0.045131,0.998944]]2H-~3u?5`^ 㿁?l`X?i2- @I2V<];2CYRByRIIV4<)Vp<bDbVDb:yjs%jY=ٔnLQ-r>9pYp=v_Fytv3;Ev>xQ 54zů?Q 94z)zcJBY y ?Q I ?zDsCIz:;iz;;zj݆4yBɮA%EԁDNOT Ignoring new targets: 42.61 m.hh*h"h hgfffddjdZd7@ZAZAZAZE?] )Y ]TOi]J9)Y]ƳYiaiaiiIiIiyiqIuA 9@  @ @ /@ II1O= >ԡD=D<E9 E9E,E"Eso;*E ;VEg4ZEBE9tYt=z_Fyxz;E~>|Q 54~ڮ?Q 94~)~lJBY y ?Q I ?~TsCI~:i~B:~4yɮADNOT Ignoring new targets: 42.61 m.hh*h"hq hqgyfyffddjdZd>8@ZiZiZiZm?}:?) nii=9)顥!iiII]9@Y @Y@Y@YIiIO9>) PExceeded connect timeout, disconnecting.Q E 8 E *E -E "E n;*E ;VE t4ZE a @a @a @a @_,?AFH @F>@F?ٱF<9 RAHRS rotation from veh to nav: [[-0.712008,-0.701718,-0.025228],[0.702110,-0.711012,-0.038773],[0.009270,-0.045319,0.998930]]FH @yt pՙw?@ڣ?4 ;?iFH @IF!];FCBb<Ab<Bb>Bb(CBbIBb BBb =B`B`Bb;Bbj7EYn Byn{IieMb@Mb@Mb@aaaa a9eA`"?3333339Y=_Fy8;E>Q 54?Q 94)rJBYI>Q E;y?Q I?bsCIH:iQ:4yBɮAE==DNOT Ignoring new targets: 42.61 m.hh*h1"h hgfff`BddjdZd4y8@ZI>ZI>Zp[@Z6??) .i9)Lii!!!I!I)E9@A @A@A@AIQaIiO}7>ԉԹ ;,8?AJYQ @JF@JMٱJ: ZAHRS rotation from veh to nav: [[-0.712366,-0.701358,-0.025121],[0.701744,-0.711362,-0.038977],[0.009467,-0.045394,0.998924]]JH q Bt?`z Vc? = 0?iJYQ @IJF\;JCYzByzOI || 4<bD VD :2yB5%Q=ٔ%1Q-%>9!Y!=-_Fy)-:E->1Q 5=45E?Q 9=45J)5wJBYAyE?Q IE?5osCI5<;i5&;54yIɮMAIuDNOT Ignoring new targets: 42.61 m.hyhy*hy"hy hygyfyffddjdZd8@ZZZZ?M) ti9)iiIIԉE* E'E+E"Ea;*E";VE [4ZEBE9Y=_Fy6L9E>Q 54Ϭ?Q 94 ){JBY=Q E;y?Q I?{sCIH:iQ:4yɮADNOT Ignoring new targets: 42.61 m.hh*h"h hgfff8BddjdZd6B9@Z =Z =Z K@Z ?%)! %.i%79))-2)i)i111I1I99@ @@4@IIO>nManaging dock network, ignoring radio surface power offE$ E-E/E"Eg\;*EK;VEJ4ZEa@a@a@a@B>BB~IB BBBBB;B_7EBB(CBBBC5I ,l?A"? > 2?iFN @IFO\;FCYnByr?IbDzVDzy$%R=ٔ 9Q- >9 Y =_FyE>Q 5%4b?Q 9%4)JBY)y-?Q I-?sCI:i:4y1ɮ5A1eDNOT Ignoring new targets: 42.61 m.haha*ha"ha hagafafifididijdqZdu9@Z Z Z Z I?%)! %>i-9))-)i)i111I9I9ԩ@ @@4@IIO>E E+E,E"EQ;*E=;VEg4ZEBEɥux? ʿBͣ;z?B 5?i:F @I:\;:CYJByJ5IbDVVDVNyZ*%^O=ٔ^IU:Q-^>9`Y`=b_Fy`fEf>dQ 5j4f?Q 9n4f)fJBlYlyr?Q Ir?fsCIf]$;if%;f4ytɮv`At5DNOT Ignoring new targets: 42.61 m.h1h1*h9"h9 h9g9f9fAfAdAdAjdIZdM` :@ZiZiZiZm:?}b)y Nin9)額iiIIe>i> -9@) @)@-/@)I9IIO]>1a E  E 1E .E "E N;*E f;VE ـ4ZE a @a @a @a @0,2?AA0A2?AB6>B4B6YIB6BB6 =B4B4B6;B6b7EB; @BC1@B ٱB: JAHRS rotation from veh to nav: [[-0.711442,-0.702273,-0.025764],[0.702692,-0.710458,-0.038382],[0.008651,-0.045411,0.998931]]BH !yas|?@צ?@@>?iB; @IB \;@Y~By~7I9iMb@Mb@Mb@ 9S㥫?V-I +?Y/]=ym94< )fAYAbDVD1y<%8=ٔ[:Q->9Y=_Fy)ĺE>Q 5 4?Q 94ˉ)JBYڣ=Q E%ԑiߩ I߭ A vح,?AYneBynIbDvVDvfy5-(%=V=ٔ=Q-=>9AYA=E_FyAEEE>IQ 5U4M?Q 9U4M)MJBYYyYQ I]?MsCIM;iM;M4yaɮeQAiDNOT Ignoring new targets: 42.61 m.hh*hԙ"h hgfffddjdZd@:@ZZZZ) wxi9)iiIID@AzDE2 E,EE"Ei;*E;VEZEBE) D,2?A6f$ @6@6{ٱ6{9 >AHRS rotation from veh to nav: [[-0.710448,-0.703259,-0.026279],[0.703705,-0.709487,-0.037767],[0.007916,-0.045324,0.998941]]6H `蚿? `3V@6?4 S?i6f$ @I6 ];6CYbwBybIiEMb@Mb@Mb@AAAA A9E~jt?I +?YED=yELAE AA A)EAAYAbD]VD]ym0=%mG=ٔu:Q-u>9qYq=_FysZE>Q 5 4?Q 9 4<)JBY=Q E= E(E-E"Es;*E;VEt4ZEa@a@a@a@IOA>BaBaBe:IBeBBaBaBaBe;Beo7E%=R=Qy ,v?AB@ @B@B`ٱBY: NAHRS rotation from veh to nav: [[-0.710228,-0.703469,-0.026594],[0.703930,-0.709269,-0.037675],[0.007641,-0.045479,0.998936]]BH0`т;@?U0JL? HH?iB@ @IB\;@Yn^Byn IbDzVDzJy%z%-O=ٔ-?6:Q-->9)Y1=5_Fy15XE5>YQ 5e4]%?Q 9e4])]JBYiym?Q Im?]sCI]:i]B:]=$4yqɮukADNOT Ignoring new targets: 42.61 m.hh*h"h hgfffddjdZdi;@QZiZiZiZm֗?`) Qir9)顥ɳiiIIM9@I @I@M0@IIYIiO}>ԁDD=E& E#EE"E8^;*E;VEZEBE9xY|=~_Fy|]E>Q 5 4,?Q 94Ԇ)JBYy?Q I?sCI:i`:+4yɮ%A!MDNOT Ignoring new targets: 42.61 m.hIhI*hI"hI hIgQfYfafidqdqjdyZd}|<@ZZZZ\?$) Zi/9)顽 iiIIԱ9@ @@5@IIO >EXGY}MA 9YA@ bEEt4jEEt4rEES/E  E E E "E US;*E :VE ZE a @a @a @a @A B] <A] <Ba Ba Be !IBe BBa Ba Ba Be ;Be ^7E, ,˼!?A2 @2@24Jܻٱ2e: :AHRS rotation from veh to nav: [[-0.709315,-0.704361,-0.027352],[0.704859,-0.708379,-0.037053],[0.006723,-0.045562,0.998939]]2H`>5? 8{?SN?i2 @I2u\;2CY^`By^ IIb=)b9Y=_FyE>Q 549?Q 94)JBY =Q E>I n%,aU;?A :@:@:ɻٱ:; BAHRS rotation from veh to nav: [[-0.708847,-0.704813,-0.027838],[0.705335,-0.707923,-0.036695],[0.006156,-0.045646,0.998939]]:HӍ@v?Nɢ`K7y?^@N?i:@I:\;:CYJBByJIbDVVDV:yZ%^a=ٔ^:Q-b>9`Y`=b_Fy`f;Ef>hQ 5n4jD?Q 9n4jn)jJBYlyn]?Q Ir?jsCIjj;ijf;j94ytɮvAtDNOT Ignoring new targets: 42.61 m.hh*h"h hgff!f!d!d!jd!Zd-<@ZIZIZIZMx]?]ɻ)Y ]ai]9)aeaiaiiiiIiIqDqzDu@AE EE+E"EO;*E :VE [4ZEBE8AHRS rotation from veh to nav: [[-0.708675,-0.704977,-0.028041],[0.705511,-0.707761,-0.036460],[0.005857,-0.045621,0.998942]]6Hw,ȶ?@ӪRw?[`T?i6@I6];4YRSByRI\ieMb@Mb@Mb@aaaa a9ev/?Mb~jt?Yexi=ye@e9Y=_FyjE>Q 54?Q 94)JBY=Q E*E E$E)E"E,K;*E;VEFA4ZEa@a@a@a@BBBIBbBB =BBB;Bi7E1a u7, o?A2@2@2ٱ2}: :AHRS rotation from veh to nav: [[-0.708424,-0.705223,-0.028213],[0.705766,-0.707523,-0.036140],[0.005526,-0.045514,0.998948]]2Hh 0㜿?` 倢 v? Mb?i2@I2?\;2CY^EBybIbDj VDj2yr%rX=ٔre:Q-r>9tYt=v_Fytz:yEz>xQ 54z?Q 94z)zJBYy?Q I?zsCIz+;iz;zNG4yɮAYDNOT Ignoring new targets: 42.61 m.hh*h"h hgfffddjdZd=@Z)Z)Z)Z-?])Y e;yiet9)aeaiaiiiiIiIq 9@  @ @ @ II1O= >ԉԱE EQE-E"E*EA;VEt4ZEBEM9tYt=v_Fytz1Ez>xQ 54zt?Q 94z)zJBYy?Q I?zsCIza;iz];z^N4yɮA=DNOT Ignoring new targets: 42.61 m.h9h9*h9"hA hAgAfAfAfIdIdIjdIZdM >@ZiZiZiZmo?Թ`) Eqi9)Dݴii  II-9@) @)@)@)I9IQO]>9 E  E BE E "E F;*E Z;VE ZE a @a @a @a @A A @AB B B IB MBB =B B B ;B e7EB(CBBB =B =C+5zI,¢?ABJ@B@BٱB~: JAHRS rotation from veh to nav: [[-0.708564,-0.705073,-0.028466],[0.705628,-0.707673,-0.035887],[0.005158,-0.045515,0.998950]]BH`5&?A_ u? Mf?iBJ@IB];BCY~UBy~IiMb@Mb@Mb@ 9+?A`"?Y=yY<"A 5 A)AYAbDVD02y"<%;=ٔ,9Q->9Y=_Fy@J:E>Q 5=4Ū?Q 9=4 )JBY==Q E=@Z%=Z%=Z%@Z%?) ui9)額iiIIE9@A @I@M/@IQIiIyO9>iԙ xs,?A2@2V@2 ٱ2I: :AHRS rotation from veh to nav: [[-0.708755,-0.704878,-0.028506],[0.705437,-0.707870,-0.035773],[0.005037,-0.045464,0.998953]]2H @]0?@ަPPt?Gl?i2@I2i?];2CYBSByBIHHbDNVDNyV%V`=ٔV9Q-Z>9XYX=Z_FyX^B:E^>9Q 5E4=?Q 9E4=)=JBYAyE?Q IM?=sCI=:i=1:=5]4E] E]E]/EY"E]L;*E]:VE]J4ZEYBE]@ZAZAZAZEν?m )q uwiu9)quqiqiyyII9@ @ @ 00@ II)O5.>ԡ [,hv?AiIA6O @6@6zSٱ6K : >AHRS rotation from veh to nav: [[-0.708995,-0.704639,-0.028445],[0.705195,-0.708112,-0.035746],[0.005045,-0.045403,0.998956]]6Hg @?٨=Mit? ?r?i6O @I6U];6CYbPBybIiMb@Mb@Mb@ 9 ףp= ?y&1:v?YQ=y`e<A  A)AYbD VD:2y wܻ% 6=ٔ Q->9Y=_FyF:E>!Q 5-4%F?Q 9-4%)%JBY-=Q E-;y5?Q I5?%sCI%/:i%:%6d4y9ɮ=A9eDNOT Ignoring new targets: 42.61 m.hihi*hi"hi higififqfu#BdqdyjdyZd} (V?@Z=Z=Z1@@Z?zS) uiv9)页iiII9@ @@5@IIO&>Em Em Em.Ei"EmV;*Em:VEmـ4ZEiau@au@au@au@B>BBBBBBB;BW7E9i ,Y?A06 @60@6"ٱ6: >AHRS rotation from veh to nav: [[-0.709480,-0.704155,-0.028350],[0.704707,-0.708592,-0.035859],[0.005162,-0.045419,0.998955]]6H p `?Ȭ@ \@=$u? 1Ao?i6 @I6R ];6CYDyDbDNVDNٔVQ-V>9XYX=Z_FyXZ;:E^>`Q 5b4b?Q 9f4b)bKBYdyf?Q If?btCIb6:ib:b}j4yhɮllDNOT Ignoring new targets: 42.61 m.hh*h"h h g f f f ddjdZd`?@Z1Z1Z1Z5?M")I IiMN9)IM,QiQiYYYIYIY9@ @@%/@!IQIaOm=ԉԱEu* EuEu*Eq"Eua;*Eu:VEu(N4ZEqBEu`9`Y`=b_Fy`f:Ef>hQ 5n4j?Q 9n4j})j KBYlyn?Q In?jtCIj:ij:jq4ytɮvAtDNOT Ignoring new targets: 42.61 m.hh*h"h hgfffd!d!jd!Zd% @@ZAZAZAZE?Uk)Q U{i]r9)Y]!A E ) E &E /E "E `;*E ;VE J4ZE a @a @a @a @B A <B B B B B B B B ;B ^7E, $?A2" @2@2Iٱ2x9 :AHRS rotation from veh to nav: [[-0.710378,-0.703262,-0.028015],[0.703799,-0.709480,-0.036130],[0.005532,-0.045383,0.998954]]2Hj@ ?1v?`l<o?i2" @I2|];2CYB]ByB IiMb@Mb@Mb@ 9v/?i|?5/$?Yx=yq<A )Y AbDVDy(.=%;=ٔQ->9Y=_Fy:E>Q 54-?Q 94|)KBY0>Q E;y?Q I?tCI ;i& ;4y4yɮpADNOT Ignoring new targets: 42.61 m.hh*h"h hgfff8Bd!d!jd!Zd%D@@ZE0>ZE0>ZE|ǹ@ZE?5I)1 5=i5&9)15N1i9i9AAIAIAI%9@! @!@!@!I1IIO]2>qiI IM Aԡ r,%=?A2+ @2!@2޼ٱ2J9 :AHRS rotation from veh to nav: [[-0.710782,-0.702862,-0.027817],[0.703389,-0.709878,-0.036295],[0.005764,-0.045365,0.998954]]2H} $|@)?R@Q@ɛw?@:n?i2+ @I2];2CYRSByRIbDZVDZkyr׼%rX=ٔv Q-v>9tYt=z_Fyxz:Ez>|Q 54~検?Q 94~S{)~"KBY y ?Q I ?~+tCI~:i~B:~4yɮAEDNOT Ignoring new targets: 42.61 m.hAhA*hA"hA hAgAfAfIfIdIdIjdQZdU` u@@ZqyZqZqZu!?޼) Ti9)顕]`iiIID9zD=AAEU EU'EU0EQ"EUM;*EU";VEU4ZEQBEU9Y=_Fy:E>Q 5U4+?Q 9U4y)+KBYU >Q EU;yU,?Q I]?:tCI:i:h4yqɮ}AyDNOT Ignoring new targets: 42.61 m.hh*h"h hgfff-BddjdZd`@@Z >Z >Zٺ@Z,?Gǻ) iZ9)@r i iII!i%4>9@ @@/@IIO%>bEjE @24@2лٱ2}E: :AHRS rotation from veh to nav: [[-0.711593,-0.702057,-0.027414],[0.702563,-0.710668,-0.036819],[0.006367,-0.045460,0.998946]]2H^?wce{?˽@٢z?F@]?i2> @I2\;2CYBaByB IbDNVDNyn)=%nZ=ٔr2GQ-r>9pYp=v_Fytvn:Ev>xQ 5~4z?Q 9~4zx)z3KBYy@?Q I?zGtCIz;iz ;z4y ɮ bA 5DNOT Ignoring new targets: 42.61 m.h1h9*h9"h9 h9g9fAfAfAdAdIjdIZdM@@ZiZiZiZm@?}л) Ozi9)顅iiIIu9@q @q@u0@qIIO=AD5=D5<E= E=gE=/E9"E=&U;*E=$;VE=J4ZE9BE=9tYt=v_FytvM:Ez>xQ 5U4z?Q 9U4z9w)zԡA! A! B) B) B- IB- WBB) B) B) B- ;B- U7EEE  EE +EE .EA "EE X;*EE =;VEE ـ4ZEA BEE <2EE <JEE ^<:EE ^< ),ӥ?A2N @2C@2Wٱ2: :AHRS rotation from veh to nav: [[-0.712241,-0.701417,-0.026957],[0.701900,-0.711295,-0.037359],[0.007029,-0.045530,0.998938]]2Hru?@ |?O@M?i2N @I2\;2CYzUByzIiMb@Mb@Mb@ 9?T㥛 /$?Y>y<A  A)Yp AbD VDf2ypB;%;=ٔOQ->9Y=_Fyq:E>Q 54d?Q 94u)GKBY>Q E;y?Q I?etCIT ;iG ;4yɮA=DNOT Ignoring new targets: 42.61 m.h9h9*h9"hA hAgAfAfAfM?BdIdIjdIZdMIA@Zm>Zm>Zm{@ZmN?W) {i9)額iiIIԹe9@a @a@a@aIqIO:> /,?p?A:YV @:K@:(Nٱ:: FAHRS rotation from veh to nav: [[-0.712593,-0.701067,-0.026757],[0.701539,-0.711635,-0.037664],[0.007364,-0.045610,0.998932]]:H$o!f s?`H )~? 4Z@?i:YV @I:s\;:CYJZByJ IbDVVDVNy^z<%^_=ٔbnQ-b>9`Y`=b_Fy`f:Ef>hQ 5n4j?Q 9n4jpt)jQKBYlyr?Q Ir?jrtCIj;ijY;j4ytɮvzAtDNOT Ignoring new targets: 42.61 m.hh*h"h hgff!f!d!d!jd)Zd-{wA@ZIZIZIZM\?](N)Y ]ie49)aebaiaiiiiIiIqDYzDYEe) EeEaEa"Ee`;*Ee:VEaZEaau@au@au@au@@ @@/@I!1I9OE=Yԑ o 6,hZ?A<:\ @:>R@:6ٱ:h; FAHRS rotation from veh to nav: [[-0.712860,-0.700801,-0.026618],[0.701264,-0.711889,-0.037974],[0.007663,-0.045737,0.998924]]:H`l@A@p?``Tqc? j/?i:\ @I:U\;:CYrPByrIimMb@Mb@Mb@iiii i9mX9v?x&?Ym=ym7m9Y=_Fyh:E>Q 54s?Q 94r)^KBY>Q E;y?Q I?tCIG ;i~ ;4yɮADNOT Ignoring new targets: 42.61 m.hh*h"h hgfffGBd!d!jd!Zd%`rA@ZE>ZE>ZE5@ZE?6) iY9)ii!AIIIIIԡBBBIBMBBBBBa;B67EBBBBBC49@ @@@II O*>Ee& Ee/EaEa"Ee8^;*EeY;VEaZEaBEeQ-V>9XYX=Z_FyX^3:E^>`Q 5f4b?Q 9f4bq)biKBYdyf$?Q If?btCIb :ibN:b%4yhɮnAll DNOT Ignoring new targets: 42.61 m.h h *h "h  h g fffddjdZdA@ZZZZB$?y) ̥i[9)ii   IIiIA I)9@! @!@!@!I1IAOUS>1Dm=Dm%=E}< E}KE}+Ey"E},r;*E};VE} [4ZEya@a@a@a@a C, ?A28d @2Y@2}ٱ2: :AHRS rotation from veh to nav: [[-0.713182,-0.700491,-0.026156],[0.700931,-0.712202,-0.038262],[0.008174,-0.045621,0.998925]]2Hc@kjȚ n?[ `c?[`2?i28d @I2\;0YB>ByBIbDNVDNyV.%VJ=ٔV5Q-V>9XYX=Z_FyXZU:E^>`Q 5b4b?Q 9f4b/p)buKBYdyf)?Q If?btCIb:ib-:b64yhɮnAlDNOT Ignoring new targets: 42.61 m.hh*h"h h g f f f ddjdZdVB@9Z1Z1Z1Z5)?M})I UiUr9)QUnQiQiYYaIaIa9@ @@0@IYIyO=iԑB <A <B B B B B B B B R;B '7E E  E E 0E "E ;*E :VE 4ZE BE =a 2E =a JE QAHRS rotation from veh to nav: [[-0.713460,-0.700220,-0.025818],[0.700644,-0.712472,-0.038496],[0.008561,-0.045554,0.998925]]2H4hok? @?R2?i2j @I2>\;2C9=4=ԡY,ByIiMb@Mb@Mb@ 9K7?㥛 ?YI >yAA  A)Y AbD-VD-fy=%==ٔ=:CQ-=>9AYA=E_FyAM,I:EM>QQ 5]4U?Q 9]4U,n)UKBY]!>Q E];y]?Q Ie?UtCIU:iU:UN4ymBɮmAmEDNOT Ignoring new targets: 42.61 m.hh*h"h hgfff/BddjdZdUB@Z!>Z!>Z:e@Z?-E ) i9)uŵiiII9@ @@/@IIOc> ;+P,R@?A2s @2Oi@2ٱ2^: >AHRS rotation from veh to nav: [[-0.713840,-0.699844,-0.025534],[0.700253,-0.712843,-0.038751],[0.008918,-0.045543,0.998923]]2H `e%xh?4ףC? ^Q,?i2s @I2C ];2CYRByRIbDZVDZy~7%=ٔQ-?9Y = _Fy  :E ?Q 54l?Q 94m)KBYy?Q I?tCIY!Qy i I AVV,Z?A2} @2[s@26ٱ2: :AHRS rotation from veh to nav: [[-0.714267,-0.699417,-0.025283],[0.699812,-0.713260,-0.039016],[0.009256,-0.045561,0.998919]]2HEa㙿 d? ?S@$?i2} @I2d];2CY^By^IiEMb@Mb@Mb@AAAA A9EK7A?~jtV-?YE >yEE9Y=_Fy:E>Q 5 4?Q 9 4fk)KBY o>Q E;y?Q I?tCI ;i ;·4yBɮRAEDNOT Ignoring new targets: 42.61 m.hIhI*hI"hI hIgIfIQfYf]CBdadajdaZdeB@Zo>Zo>Z;η@Z?6) Qi9)顥FڵiiIIBu>BqBuIBuCBBu =BqBqBuE;Bu7E%9@! @!@%5@!I1IIOU2>EmL Em#Em.Ei"EmW;*Em;VEmـ4ZEiBEm9xYx=z_Fyxz;E~>Q 5 4Ғ?Q 9 4j)KBY y ?Q I ?tCI :i:ԇ4yɮAmDNOT Ignoring new targets: 42.61 m.hihi*hi"hi higifqfqfqdqdyjdyZdB@ZZZZ?)  ľi-9)G浉iiqyIyIԹ 9@  @ @ /@ II)O= >Eu; Eu%Eu/Eq"EuDq;*Eu;VEuJ4ZEqa}@a}@a}@a}@ 9 gc,kG?AY~~By~IbDVD0y=ռ%EE=ٔMQ-M>9IYI=M_FyQUEU>YQ 5e4]z?Q 9e4]vh)]KBYayiQ Im?]tCI]:i]:]ۇ4yqɮuAqDNOT Ignoring new targets: 42.61 m.hh*h"h hgfffddjdZddC@ZZZZ) ɾi,9) 󵉢iiII gAgAIGUb9QYU A9U9@Q @Q@U4@QIiIyO>i Aa Aa Bm >Bi Bm IBm %BBm =Bi Bi Bm U;Bm )7EbEـ4jE4rEg/E B E 7E ,E "E w;*E ;VE g4ZE BE AHRS rotation from veh to nav: [[-0.716020,-0.697648,-0.024555],[0.698004,-0.714980,-0.039923],[0.010296,-0.045725,0.998901]]2H!S$ V?@p`? :i`?i2 @I2h];0YF~ByFIi}Mb@Mb@Mb@yyyy }E9}X9v?+~jt?Y}=y}}9Y=_Fy;E>Q 54a?Q 94f)KBY>Q E;y?Q I?tCI ;iG ;4yɮ]A DNOT Ignoring new targets: 42.61 m.h h *h "h  hgfff"Bd!d!jd!Zd- MC@Z]>Z]>Z]~@Z]Ǵ?u()q }Qi}9)y}yiyiIIi|9e9@a @a@e/@aIqIO:>ԙ zp,>?A2r @2@21ٱ2: :AHRS rotation from veh to nav: [[-0.716843,-0.696821,-0.024026],[0.697150,-0.715793,-0.040267],[0.010861,-0.045615,0.998900]]2H@` [LHO?ҝ?>?Z@?i2r @I2s];2CYB~ByBI J9XYX=Z_Fy\^P;E^>`Q 5f4bc?Q 9f4be)bKBYdyj?Q Ij?buCIb:ib:b4ynBɮnoArE5DNOT Ignoring new targets: 42.61 m.h1h1*h1"h1 h1g9f9f9f9dAdAjdAZdE}C@ZaZaZaZe?}1)y }i}.9)y顅DiiIIE=O E=OE9E9"E=;*E=3;VE9ZE9aE@aE@aE@aE@\9I)a@a @i@m/@iIyIO>) v,b?A2 @2"@2J'8ٱ2: :AHRS rotation from veh to nav: [[-0.717524,-0.696133,-0.023646],[0.696443,-0.716469,-0.040483],[0.011240,-0.045515,0.998900]]2HF@6CI?P`$?M?i2 @I2;q];2C|Y%~By%I ))iMb@Mb@Mb@ A9X9v?㥛 :v?Y=yT<1AfA ) AY AbDVD:y\%9=ٔ`Q->9Y=_Fy;E>Q 54?Q 94c)KBY>Q E;y?Q I?uCI9;i8;X4y ɮ A 5DNOT Ignoring new targets: 42.61 m.h1h1*h1"h9 h9g9f9fAfEBdAdAjdAZdMC@Z>Z>Z @Zu?5J'8)9 =Ǿi=y9)9= 9i9iAAIIIIiBBBIBB)B =BBBo;BC7EEMH EM:EM+EI"EM};*EM$ ;VEM [4ZEIBEMfԁ |,W?A2 @2@2 =ٱ2-=: :AHRS rotation from veh to nav: [[-0.718133,-0.695514,-0.023351],[0.695810,-0.717073,-0.040664],[0.011538,-0.045450,0.998900]]2H@AI闿`D?CѤ@9hYl=n_Fylr;Ev>xQ 54z?Q 9 4zb)zKBY y ?Q I?z&uCIzr;iz?|;z4ayɮeADNOT Ignoring new targets: 42.61 m.hh*h"h hgff!f!d!d!jd!Zd-.C@ZZZZn? =) Bھi?9)iiII9@ @@O0@ԑIIO>ԱDQDU<E]X E]IE]0EY"E]Ʌ;*E] ;VE]4ZEYae@ae@ae@ae@ ,*?A2 @2L@2 YBٱ2: :AHRS rotation from veh to nav: [[-0.718757,-0.694879,-0.023060],[0.695160,-0.717691,-0.040887],[0.011862,-0.045419,0.998898]]2Hr<>?`S4錄J?`A ?i2 @I2)h];2CYB~ByBIPPbD^VD^kyfZO%fH=ٔjNPQ-j>9hYh=j_Fyln;En>pQ 5v4ro?Q 9v4r/a)rKBYtyz ?Q Iz?r5uCIr:ir-:r4y|ɮ~jA|%DNOT Ignoring new targets: 42.61 m.h)h)*h)"h) h)g)f)f1f1d1d1jd9Zd=D@ZYZYZYZ]6 ?m YB)i uھiu9)quTqiqԹiII9@ @@4@II O5 >B <A <B B B IB ~BB B >DB B r;B G7EBBBB =B =Ce59 Ee K Ee 0Ee .Ea "Ee ;*Ee ;VEe ـ4ZEa BEe 9)Y)=-_Fy)58:E=>AQ 5M4E5?Q 9M4E_)EKBYUC=Q EU;yU#?Q I]?EBuCIEF;iE F;E4yaɮeAiDNOT Ignoring new targets: 42.61 m.hh*h"h hgfffBddjdZd@QD@ZC=ZC=Z@Z#?#?) ǾiL9)iiII9@ @@4@IIO>Aiԙ xǐ,DC?AB @B|@BL6ٱB7 JAHRS rotation from veh to nav: [[-0.718686,-0.694947,-0.023209],[0.695245,-0.717658,-0.040012],[0.011150,-0.044892,0.998930]]BHy =)ė@s?? `|Ն?$@;?iB @IBW];BCYvB~Byv]IbDVD:2y jܽ%]=ٔ':Q->9Y=_Fy%E%>!Q 5-4%4?Q 954%^)%KBY1y5?Q I5?%MuCI%):i%B:%& 4yAɮEAAmDNOT Ignoring new targets: 42.61 m.hihi*hi"hi higqfqfqfqdydyjdyZd}`D@ZZZZ ?L6) ܾi 9)顽iiIIEO E9E,E"E;*E ;VEg4ZEa%@a%@a-@a-@qU9@Q @Q@U/@QIaIqO=  ԡ ,X ]?AB @BF@BjE1ٱB7 JAHRS rotation from veh to nav: [[-0.718722,-0.694903,-0.023432],[0.695213,-0.717702,-0.039771],[0.010820,-0.044874,0.998934]]BH`@<@0??k\(?D?iB @IB5];BCY^=~BybZIi}Mb@Mb@Mb@yyyy y9}Dl?MbMb`?Y}O=y}};}A}A } A)} AyYy p<4<bDVDܲycH%A=ٔ~L:Q->9Y=_FyG8E>Q 54:?Q 94^)KBYқ=Q E.BBIB~BB =BBBt;BI7E@ @@@II O*>E-> E-%E)E)"E-s;*E-;VE)ZE)BE-9)Y1=5_Fy15'E5>9Q 5E4=U?Q 9M4=V])=KBYIyMԙE=Q E=dE9E9"E=;*E=B#;VE9ZE9aE@aE@aE@aE@ ,?AB @BT@BٱB'*9L NAHRS rotation from veh to nav: [[-0.717801,-0.695806,-0.024811],[0.696186,-0.716807,-0.038891],[0.009276,-0.045189,0.998935]]BH:` Dg (G?@ 飿@c?"`G?iB @IB];BCYV1~ByTbDbVDb:yf%jO=ٔj];Q-j>9lYl=n_FylrEr>pQ 5v4rm?Q 9z4r\)rKBYxyz!?Q Iz?rduCIr& ;ir2 ;r4"4yɮA-DNOT Ignoring new targets: 42.61 m.h)h)*h)"h) h)g1f1f9f9d9d9jd9ZdEE@ZYZYZYZ](!?u)q u;iu9)y}ᙴyiyiIIE9@I @I@M 0@IIIO>A A B B B rIB d~BB B B B i;B ?7E E= ? E= fE= -E9 "E= t;*E= P$;VE= t4ZE9 BE= XAHRS rotation from veh to nav: [[-0.716856,-0.696751,-0.025622],[0.697174,-0.715890,-0.038084],[0.008193,-0.045164,0.998946]]6H{ K<>O?@ `ǀ?`]?i6Q @I6^;6CYF%~ByFKIxiMb@Mb@Mb@ 9Q?{Gz~jtx?Y\=y#;A b A)YbDVD0y%;=ٔ";Q->9Y=_FyXME>Q 54?Q 94>\)KBY=Q EIy ,?A2 @20@2ٱ29 :AHRS rotation from veh to nav: [[-0.716107,-0.697482,-0.026645],[0.697955,-0.715163,-0.037414],[0.007041,-0.045389,0.998945]]2H`X@QHU?' |?`F=Z?i2 @I2)^;2CY^ ~By^;IIb<)bp;bDjVDjyr%r[=ٔrJ;Q-v>9tYt=v_FytzT>Ez>|YQ 5]4~.?Q 9e4~[)~KBYayeC@Q Ie?~kuCI~*;i~);~W04yiɮm_AqDNOT Ignoring new targets: 42.61 m.hh*h"h hgfffddjdZdރE@ZZZZC@) Ծi9)SiiIE/ ECE/E"Eaf;*E;VEJ4ZEa@a@a @a @I 9@ @@5@IIO>ԉԱ E XGq U 9Y Y] A iߡ Iߡ <@,i?A2ʏ @2f@2}vٱ2A: :AHRS rotation from veh to nav: [[-0.715056,-0.698516,-0.027743],[0.699044,-0.714152,-0.036380],[0.005599,-0.045407,0.998953]]2H>Z h^?U]v? ?l?i2ʏ @I2k^;2CYN~ByRDIi%Mb@Mb@Mb@!!!! !9%Q?~jt?Y%Ա9QY=_FyeE>Q 54c?Q 94[)KBYX=Q EbE^n4jEt4rEă/E 9 E ]E -E "E so;*E ;VE t4ZE BE 9pYt=v_FytvoEv>xQ 5~4z?Q 9~4z[)zLBYy@Q I?zruCIz;iz;zt>4y ɮ A=DNOT Ignoring new targets: 42.61 m.h9h9*h9"h9 h9g9fAfAfAdAdIjdIZdM`E@ZiZiZiZmØ@7A) UǾi9)顅^5iiII@ @@/@I!I1O==AE_ E&E0E"E;*E;VE4ZEa@a@a%@a%@qԙ Q,.?A2b @2X@2w)ٱ29 :AHRS rotation from veh to nav: [[-0.713149,-0.700373,-0.029931],[0.701007,-0.712337,-0.034134],[0.002586,-0.045325,0.998969]]2H`ti =@n? vz .e?4?i2b @I2n_;2CYv7~ByzVI ||bDVD:yjN%G=ٔv;Q->9!Y!=%_Fy!%YE%>)Q 554-򂜊?Q 954-G[)-LBY9y=@Q I=?-uuCI-;i-;-E4yAɮMAIuDNOT Ignoring new targets: 42.61 m.hqhq*hq"hq hqgyfyfyfyddjdZd\F@ZZZZ@w)) Ǿi9)顽NiiIIyq@q @q@u/@qIIO=ԡBI AM 4=BQ BQ BU @IBU ~BBU =BQ BQ BU [;BU 17EE% ` E% E% .E! "E% i;*E% :VE% ـ4ZE! BE% 49Y=_Fy&E>Q 54?Q 94Z)LBYB2=Q E@ZU@m޺)i m ׾im`9)imjqiqiyyyIyIy-9@) @)@-/@)I9IaOm>) d,^E?A2u@ @26@2z:ٱ2*: >AHRS rotation from veh to nav: [[-0.711674,-0.701765,-0.032344],[0.702509,-0.710958,-0.031914],[-0.000599,-0.045435,0.998967]]2H@tb z?,W C5C?i2u@ @I2Q(`;2CYB]~ByFnIHJ@AbDNVDNyV˞=%V^=ٔV;Q-Z>9XYX=Z_FyX^ 6E^>`Q 5f4bh?Q 9f4bZ)bLBYdyf@Q Ij?b|uCIb:ibp:bS4ylɮnAlDNOT Ignoring new targets: 42.61 m.h h *h "h  h g f ffddjdZdF@Z9Z9Z9Z=;@Mz:)I MpȾiUK9)QUUiQiYYYIaIaiDzDEG EE*E"E&|;*E:VE(N4ZEa@a@a@a@9@ @@/@IIO=)Yԡ ,}_?A4<ɰ4<8:8 @:V.@:;ٱ:W: FAHRS rotation from veh to nav: [[-0.711341,-0.702052,-0.033418],[0.702844,-0.710668,-0.031009],[-0.001979,-0.045545,0.998960]]:HO@5w }?ʽ |6`Q{?i:8 @I:o`;:CYNg~ByNsIIR=)Rp=i-Mb@Mb@Mb@)))) )9-x&?S㥛~jt?Y-7=y-/ݼ-=-A-A -x A)-5 A)Y-( AbDEVDEyU<%U@=ٔUT;Q-U>9YYY=]_FyYe`Ee>iQ 5u4mU?Q 9u4mZ)m.LBYu(=Q Eu"BBFIB~BBBBBk;BA7EBBBB¾ =B¿ =Cd5ԉ-9@) @)@-0@)I9IQO]>EA E.E-E"Ev;*E;VEt4ZEBE9XYX=Z_FyXZ$EZ>|Q 5 4X?Q 9 4ZY)=LBY y (@Q I?uCI-:i[:a4yɮAEDNOT Ignoring new targets: 42.61 m.hAhI*hI"hI hIgIfIfQfQdQdQjdQZd]F@ZZZZ-(@gQ;) nif9)BݼiiII!9@ @@3@IIO >DD4=E9 E&E(E"Eso;*E;VEc44ZEa@a@a@a@A ן,be?A2U; @20@2&;ٱ2C1; :AHRS rotation from veh to nav: [[-0.711448,-0.701856,-0.035209],[0.702725,-0.710852,-0.029436],[-0.004369,-0.045685,0.998946]]2H.u  |?L`$@qd`^?i2U; @I2i*a;2CYB~ByBI HJ4<bDJVDJkyR=%VJ=ٔVa=;Q-V>9TYX=Z_FyXZ0:EZ>\Q 5b4^X~?Q 9b4^X)^MLBYdyf0@Q If?^uCI^:i^:^h4yhɮjKAhDNOT Ignoring new targets: 42.61 m.hh*h"h hg f f f ddjdZd G@YZZZZ0@&;) ־i9)լ˼iQiYYaIaIi-9@) @)@-4@)I9IQO]>ԉԱAAAAB>BBYIB;~BB =BBBl;B E G E DE )E "E &|;*E h;VE FA4ZE BE 9Y=_Fyt:E>Q 54|?Q 94vW)cLBY=Q E;y?Q I?uCI:iQ:sp4yɮADNOT Ignoring new targets: 42.61 m.hh*h"h hg!f!f!f%EBd)d)jd)Zd-@WG@ZM=ZM=ZM@ZM?eG;)a eie79)am|m1iiiqqqIqIy)@) @)@-n1@)I9IIOQ ۱,?A6W @6DM@6;ٱ69 BAHRS rotation from veh to nav: [[-0.712655,-0.700578,-0.036244],[0.701488,-0.712131,-0.028003],[-0.006192,-0.045381,0.998951]]6H #k `r?`@ܬ\y .< g?i6W @I6Wb;4Yb~BybIbDjVDj:yrJ+<%r\=ٔrL;Q-v>9tYt=v_FytzB;Ez>|Q 54~{?Q 94~sV)~uLBYy?Q I ?~uCI~;i~* ;~v4yɮA=DNOT Ignoring new targets: 42.61 m.h9h9*hA"hA hAgAfAfIfIdIdIjdIZdUtG@ZiZiZiZm?;) i9)額ʵiiIIDzD@AEP EOE/E"E(;*E3;VEJ4ZEa@a@a@a@9@ @@/@I!I1OE=Aqԡ ,{?A2St @2i@2;ٱ2K9 :AHRS rotation from veh to nav: [[-0.713878,-0.699319,-0.036478],[0.700237,-0.713378,-0.027566],[-0.006745,-0.045222,0.998954]]2H `<Wh?2:{ P'n?i2St @I2Qb;0YR~ByRIi]Mb@Mb@Mb@YYYY Y9]L7A`?#~jZd;O?Y]+>y]㥽YY]|A ]x A)] AYY]G AimAAbDuVDuyh=%@=ٔת:Q->9Y=_Fy;E>Q 54cz?Q 94T)LBYo%>Q E;y ?Q I?uCI:i:\~4yɮADNOT Ignoring new targets: 42.61 m.hh*h"h hgfffmBddjdZdֽG@Zo%>Zo%>Zs@Z ?%;)! -i-9))-ܵ-~i)i111I9I9qB>BBxIBn~BBB?DBBg;B<7EM9@I @I@M/@IIYIqO>EE EREE"EVz;*E;VEZEBE AHRS rotation from veh to nav: [[-0.715433,-0.697726,-0.036524],[0.698645,-0.714946,-0.027321],[-0.007050,-0.045064,0.998959]]2H`S;M[?<|`y?i2Ș @I2 c;0Y^~By^IIb<)b<bDjVDj:yrt<%rU=ٔr'P:Q-v>9tYt=v_Fytz";Ez>|Q 54~y?Q 94~IS)~LBYyW?Q I ?~uCI~(:i~:~4yɮADNOT Ignoring new targets: 42.61 m.hh*h"h hgfffddjdZd G@Z Z Z Z W?%d;)) -i-9))--=Di1iQYYIYIY @  @ @ @ II1O= >Ef E[E-E"E";*E;VEt4ZEa@a@a@a@) ,-?A6 @6W@6h;ٱ6q8 >AHRS rotation from veh to nav: [[-0.717133,-0.695971,-0.036670],[0.696898,-0.716653,-0.027255],[-0.007311,-0.045100,0.998956]]6H@dE@cƢ`L?@蛿;}@dr?i6 @I6&c;4YDyDbDNVDNyVM%VN=ٔZ,:Q-Z>9XYX=Z_FyX^;;E^>`Q 5f4bw?Q 9f4bQ)bLBYdyj?Q Ij?buCIby:ib:b4ylɮnAlDNOT Ignoring new targets: 42.61 m.h h *h "h  hgff)fIGdqd!jd9ZdE &H@U 9QYU@ZZZZ?h;) !i9)顽iiII)i@i @i@m/@iIyIO>aBA<B>BBIB~BB =BBBn;BD7Eԑ bEmt4jEm^n4rEm<0E Q E _E ,E "E ;*E ;VE g4ZE BE s>y%`彙%9YYY=]_FyY];Ee>aQ 5m4eu?Q 9u4eeO)eLBYup`>Q Eur;yu6?Q Iu?euCIe ;ieL ;el4yBɮ`AEDNOT Ignoring new targets: 42.61 m.hh*h"h hgfffBddjdZd(XH@Z}p`>Z}p`>Z}̷@Z}M6?;) \i9)nБiiIIԉ9@ @@O0@II)O=.>Թ ,ocH?A2 @2 @2;ٱ268 :AHRS rotation from veh to nav: [[-0.720832,-0.692146,-0.036528],[0.693071,-0.720347,-0.027440],[-0.007320,-0.045096,0.998956]]2H@& ϳ-? @F} r?i2 @I2b;2CYB~ByFI DDlbDNVDN0yv%vQ=ٔvȸQ-z>9xYx=z_Fyx~F;E~>Q 5 4s?Q 9 4?M)LBY y ?Q I?vCI):i:A4yɮAEDNOT Ignoring new targets: 42.61 m.hAhI*hI"hI hIgIfIfQfQdQdQjdQZd] 0H@ZyZyZyZ}?;) i9)顕iEF EAE*E"E>{;*E;VE(N4ZEa@a@a@a@iIIm9@q @q@u4@qIIO=A iI IM A.,Rb?AJ%D @J9@J;ٱJe8 RAHRS rotation from veh to nav: [[-0.722700,-0.690203,-0.036383],[0.691124,-0.722208,-0.027640],[-0.007199,-0.045120,0.998956]]JH\ %ɠ?SM@|} q?iJ%D @IJCb;JCYZ~ByZIiuMb@Mb@Mb@qqqq q9uNbX9?rh|Mb?YuE>yuu9Y=_Fy;E>Q 54q?Q 94J)LBYj>Q Eg;yD?Q I?vCI:i:4yɮADNOT Ignoring new targets: 42.61 m.hh*h"h hgfffyBdd jd Zd H@B5>B1B5IB5~BB5 =B1B1B5;B5U7EZMj>ZMj>ZM@ZMD?];)Y ezie9)ae4e9;iaiiiiIqIq!@! @!@%;4@!I19IIOU>E6 EPE.E"El;*E;VEـ4ZEBEK9tYt=v_Fytv;Ev>xQ 5~4zp?Q 94zH)zLBYy?Q I?z5vCIz+;iz;zY4y ɮ *A=DNOT Ignoring new targets: 42.61 m.h9h9*h9"h9 h9gAfAfAfAdAdIjdIZdMnH@ZiZiZiZmB?yj;) Yi9)額$;iiQQIQIQIa)a@ @@/@II O >ԡE> EIE-E"Es;*E ;VEt4ZEa@a@a@a@ߡ ߥ %= ,<%,?A> @>9@>o;ٱ>8 NAHRS rotation from veh to nav: [[-0.726214,-0.686528,-0.035951],[0.687435,-0.725707,-0.027982],[-0.006880,-0.045035,0.998962]]>H$=` /hv?8F-|~?i> @I>WMa;>CYZk~ByZvIIb=)`bDjVDjβyv/%zJ=ٔzQ-~>9|Y=_Fy y;E >Q 5%4n?Q 9%4+F)LBY)y-?Q I5?MvCIN;i&@;{4y=BɮEAEߤEDNOT Ignoring new targets: 42.61 m.hh*h"h hgfffddjdZdB&I@ZZZZ.?o;) !i9).1A=@AA=AAB=>B9B=IB=~BB= =B9B9B=;B=c7EBBBB =B =Cy5E c E GE .E "E Ɗ;*E ;VE ـ4ZE BE AHRS rotation from veh to nav: [[-0.727782,-0.684889,-0.035516],[0.685777,-0.727270,-0.028074],[-0.006602,-0.044787,0.998975]]6HI/ ?`Ee {_?i6 @I6`;6CYvS~ByvgIimMb@Mb@Mb@iiii i9m#~j?y&1{Gzt?Ym%>ym`彙mף;imA mx A)mb AiYmG AbDVD yh%@=ٔD+Q->9Y=_Fy1;E>Q 54l?Q 94D)LBYI>Q E;y+?Q I?bvCI ;i ;߶4yɮADNOT Ignoring new targets: 42.61 m.hh*h"h hgfff8BddjdZd[I@Z%I>Z%I>Z%~@Z%+?1=U;)A EiEZ9)AE7ESWaԉԹ N2,?A2} @2@2L;ٱ2`7 :AHRS rotation from veh to nav: [[-0.729057,-0.683536,-0.035417],[0.684422,-0.728543,-0.028137],[-0.006570,-0.044753,0.998976]]2HnT."?9PϜz馿?i2} @I2+3`;2CYB~ByBFIbDJVDJ0yRx%R[=ٔV;Q-V>9TYT=V_FyXZ;EZ>\Q 5b4^Vk?Q 9b4^$B)^LBY`yfh?Q If?^uvCI^;i^:^c4yhɮjAh~DNOT Ignoring new targets: 42.61 m.h|h*h"h hgff f d d jdZdI@E[ E[E3E"E%;*E;VE4ZEa@a@a@a@ZZZZh?L;) i9)i%!>ԑ@ @@/@IIO>) {8,)?Ab[ @b@b;ٱb!7 jAHRS rotation from veh to nav: [[-0.730220,-0.682296,-0.035357],[0.683181,-0.729701,-0.028295],[-0.006494,-0.044816,0.998974]]bH]`_ @? Y`T`z,?ib[ @Ib_;`Yr}Byr2I ttimMb@Mb@Mb@iiii i9m/$?RQym½mtmtAi i)mx AiYm AbDVDβB>BB~IBx~BBBBB;Bb7EyU%7=ٔ2Q->9Y=_Fyy;E>Q 54!j?Q 94@@)LBY'>Q E;y??Q I?vCI ;i ;5ň4y!ɮ%PA!MDNOT Ignoring new targets: 42.61 m.hIhI*hQ"hQ hQgQfQfYf]BdYdYjdYZdeI@Z'>Z'>Z6@Z??;) \iH9)顝8}4=}=I >,b?A2 @2@2m;ٱ2u8 >AHRS rotation from veh to nav: [[-0.731122,-0.681322,-0.035515],[0.682215,-0.730598,-0.028434],[-0.006574,-0.045017,0.998965]]2HYec . ?az ?i2 @I2^;0YN}ByR$IbDZVDZy~_w%~\=ٔa9Q->9Y = _Fy  h;E >Q 54i?Q 94>)LBY!y%j?Q I%?vCI;i;ˈ4y)ɮ-A)UDNOT Ignoring new targets: 42.61 m.hYhY*hY"hY hYgYfafafadadijdiZdmuI@ZZZZj?m;) i9)顥󒴉?AF @F<@F&;ٱF58 VAHRS rotation from veh to nav: [[-0.731647,-0.680760,-0.035477],[0.681652,-0.731126,-0.028394],[-0.006609,-0.044957,0.998967]]FH@i*?be`;{?iF @IFN^;D\Yb}Byf IhjAAbDrVDryz%zK=ٔz׳8Q-~>9|Y=_Fy:E> Q 54 h?Q 94 <) LBYy?Q I? vCI IBAB>BBRIB1~BB =BBBƁ;B7EA E " E <E E "E Z;*E 1;VE ZE BE 9iYi=m_Fyim:Eu>qQ 54uhg?Q 94u;)uLBY=Q E;y?Q I?uvCIuqԡ LR, J?A6 @6)@6xW;ٱ6?Q8 BAHRS rotation from veh to nav: [[-0.731641,-0.680740,-0.035981],[0.681652,-0.731142,-0.027960],[-0.007274,-0.044983,0.998961]]6Hil@?e}`}?i6 @I6$L];6CYJk}ByJIbDRVDR!yZ %ZV=ٔ^!:Q-^>9\Y\=b_Fy`bEb>dQ 5j4ff?Q 9j4f:)fLBYhyn?Q In?fvCIf:if7;f4ypɮrAp DNOT Ignoring new targets: 42.61 m.hh*h"h hgfffdd!jd!Zd% kJ@ZAZAZAZE?UxW;)QEe8 Ee0Ee)Ea"Een;*Ee;VEeFA4ZEaam@am@am@am@ miu9)quuByB}IB}}BB} =ByByB};B}7EiMb@Mb@Mb@ 9S㥫?9Y=_Fy.E> Q 54 Jf?Q 94 9) LBY/=Q EJ@ZE%?;) i-9)XiiIII ) fAbEA{4jEcw4rEA0Em9 Em]Em-Ei"Emso;*Em;VEmt4ZEiBEm)Q ^,L~?A2 @2a@2Ή<ٱ2Jt8 :AHRS rotation from veh to nav: [[-0.730728,-0.681676,-0.036814],[0.682618,-0.730268,-0.027214],[-0.008334,-0.045016,0.998951]]2H b`I X٢?[^`ݛ, V i?i2 @I2];2CYBJ}ByBIbDNVDN0yV%Vc=ٔZ:Q-Z>9XYX=Z_Fy\^w;E^>`Q 5f4be?Q 9f4ba9)bLBYhyj?Q Ij?bvCIb:ib:b4ylɮnAlDNOT Ignoring new targets: 42.61 m.hh*h"h hgfffddjdZdJJ@iIAZZZZ? Ή<)  i 9)|1iiYYYIYIa9@ @@/@IIO >aE}1 E}:E},Ey"E}2h;*E}$ ;VE}g4ZEya@a@a@a@ԉԹ e,?A6K @6@6<ٱ6d8 BAHRS rotation from veh to nav: [[-0.729995,-0.682430,-0.037367],[0.683394,-0.729558,-0.026810],[-0.008966,-0.045107,0.998942]]6H\w!@\?`Xs\N U?i6K @I6 J];6CYF5}ByFIbDRVDR02yZgM%ZJ=ٔZ:Q-Z>9\Y`=b_Fy`bZ,Eb>dQ 5j4fZe?Q 9j4f8)fLBYlyn?Q In?fvCIf;if];f4ypɮroAtDNOT Ignoring new targets: 42.61 m.hh*h"h hgfffdd!jd!Zd%)K@ZAZAZAZEB?<) i9) iiIIԑ9@ @@00@II OAyA}@AB>BBIBz}BB =BBB;B7EE C E E E "E x;*E ]:VE ZE BE {9QYQ=U_FyQ],E]>aQ 5m4ee?Q 9m4e{8)eLBYmie>9@ @@0@II)O5.>I Pr,C:?A2 @2A@2%<ٱ2E9 >AHRS rotation from veh to nav: [[-0.728666,-0.683794,-0.038371],[0.684795,-0.728269,-0.026078],[-0.010113,-0.045278,0.998923]]2H:Q``Y? M@"޵@.-?i2 @I2,];2CYF,}ByFIIJ<)JC=bDjVDjyvl%vQ=ٔvǣ:Q-v>9xYx=z_FyxzE~>Q 5 4e?Q 9 4G8)LBY y ?Q I?vCI:i :%4yɮAEE  EEWEE-EA"EEX;*EEj;VEEt4ZEAaM@aM@aM@aM@]DNOT Ignoring new targets: 42.61 m.hYha*ha"ha hagafafifididijdqZdu=K@ZZZZV?%<) i9)顭iiIIQi@q @q@u4@qIIO=y i I e PExceeded connect timeout, disconnecting.y,x'?ALB->B)B-IB-=}BB- =B->DB)B-;B-7EBBBB =B =C5 @<@4,<ٱ9 AHRS rotation from veh to nav: [[-0.728118,-0.684354,-0.038773],[0.685370,-0.727737,-0.025803],[-0.010558,-0.045362,0.998915]]H L; ڣ?Il @9@?i @IDE];CY-}ByIiEMb@Mb@Mb@AAAA A9E~jtx9qYq=u_Fyq}.E}>yQ 54})f?Q 9%4}A8)}LBY-Q I-?}vCI}4,<) = i9)CiiIIEME EMBEM.EI"EMVz;*EMZ;VEMـ4ZEIBEM  >,?A2 @2@@2l4<ٱ29 :AHRS rotation from veh to nav: [[-0.727613,-0.684871,-0.039136],[0.685899,-0.727250,-0.025478],[-0.011012,-0.045381,0.998909]]2HHu ?E ;< ?i2 @I2];2CYBO}ByBI J4Q If?^vCI^:i^ :^4yhɮjAl|DNOT Ignoring new targets: 42.61 m.hh *h "h  h g f ffddjdZd`9K@Z9Z9Z9Z=H>Ml4<)I UiUr9)QU`QiQiII9@ @@/@IIO=)E]M E] E]/EY"E]ˀ;*E]:VE]J4ZEYae@ae@ae@ae@iԁ *',?A:X @:@:ũ8<ٱ:9 BAHRS rotation from veh to nav: [[-0.727347,-0.685146,-0.039265],[0.686177,-0.726997,-0.025213],[-0.011271,-0.045282,0.998911]]:H@mF`*?Cљ)/?i:X @I:@];:CYJJ}ByJI LLbDVVDVJy^Pb%^I=ٔb&:Q-b>9`Y`=b_Fy`fwEf>hQ 5n4jf?Q 9n4j78)jLBYlyr I>Q Ir?jvCIj;ij;j74ytɮvAt B*** querying acoustic contact ***i  i DNOT Ignoring new targets: 42.61 m.hh*h"h hg!f!f!f!d)d)jd)Zd- L,L@ZIZIZIZM I>Yeũ8<)a m imx9)im􀵉iiiiqqyIyIy9@ @@@I!I1O==ԁ2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.5nManaging dock network, ignoring radio surface power offB%<A!B=>B9B=IB=}BB9B9B9B=ׁ;B=7EԹEm [ Em *Em +Ei "Em %;*Em ;VEm [4ZEi BEm I @>@>9<ٱ>e9 FAHRS rotation from veh to nav: [[-0.727330,-0.685160,-0.039338],[0.686194,-0.726983,-0.025177],[-0.011348,-0.045305,0.998909]]>HIF$@M?@qC`Ǚ@s= B2?i> @I>Z\;9Y=_FyZRE>Q 54f?Q 9 47)LBY =Q E checking for new query: numPingsReceived=0, elapsed TxPingTime=0.2510249 8,M?A2 @2@2W9<ٱ2x9 :AHRS rotation from veh to nav: [[-0.727414,-0.685078,-0.039215],[0.686106,-0.727068,-0.025107],[-0.011312,-0.045169,0.998915]]2HF`(` ?$D`*j @?i2 @I2 ];2CYNs}ByRIV@AV@AbDZVDZy~H<%p=ٔ۸Q-?9Y = _Fy  9E ?DYzDYEe= EeAEe,Ea"Ees;*Ee;VEeg4ZEaam@am@am@am@Q 54f?Q 947)MBYy^?Q I?vCI1Aq checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755026ԙ d,fg?ABhBhBjIBj)}BBj =BhBhBj;Bj7E5;ɰ1e @@5<ٱ8 AHRS rotation from veh to nav: [[-0.727811,-0.684669,-0.038986],[0.685688,-0.727458,-0.025230],[-0.011087,-0.045094,0.998921]]H:J`'?VGՙ`)?ie @Iy\;CY}ByII=)4=qiMb@Mb@Mb@ 9?V- rh?YL=yC = A)AYbDVDNyHU=%0=ٔ5Q->9Y=_Fyn:E>Q 54e?Q 946)MBYV=Q EE@Z?5<) zi9)aiiIIԙE?E=@Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.008786]9@Y @Y@Y@YIiIyO[> J,8?A6 @6A@6n,<ٱ6b8 BAHRS rotation from veh to nav: [[-0.728663,-0.683787,-0.038546],[0.684792,-0.728287,-0.025663],[-0.010524,-0.045096,0.998927]]6H`4Q@S?NG@ō @6?i6 @I6\;6CY^}BybIbDjVDjyr\=%rq=ٔrٺQ-v?9tYt=v_Fytzo;Ez?|Q 54~de?Q 94~|6)~"MBYy?Q I ?~vCI~Q;i~1:~54yɮA=DNOT Ignoring new targets: 42.61 m.h9hA*hA"hA hAgAfAfIfIdIdIjdIZdUL@ZqZqZqZu@?n,<) . i9)額ʵiiIchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259176I@ @@4@I!I1OE=Du%=Dua=E}3 E}/E}0Ey"E}j;*E}Y;VE}4ZEya@a@a@a@) U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511058% G= hAQ } b9} hAY 0NAtt,?A02v @2@27#<ٱ2#{9 >AHRS rotation from veh to nav: [[-0.729536,-0.682872,-0.038252],[0.683869,-0.729134,-0.026190],[-0.010006,-0.045266,0.998925]]2H[XB?`U њ0~ -@1?i2v @I2$!];2CYz}ByzI p<<bDVD1yW=%G=ٔxQ->9!Y!=%_Fy!%J;E%>)Q 554-d?Q 954-5)-1MBY9y=?Q I=?-vCI-;i- ;-<4yAɮE7AIuDNOT Ignoring new targets: 42.61 m.hqhq*hq"hq hqgqfyfyfyddjdZdC0M@ZZZZ?7#<) i9)顽۵iiIIi@q @q@u/@qIԉIO=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763183AAAABBBIBQ}BBBBB;B7EAa bE^n4jEp4rE0E % E UE )E "E O];*E \;VE FA4ZE BE 9Y=%_Fy!%[;E%>)Q 554-pc?Q 954-4)-@MBY==Q E=;y=.?Q I=?-vCI-v:i-:-`D4yAɮMAIuDNOT Ignoring new targets: 42.61 m.hqhq*hq"hq hqgyfyfyf}/BddjdZdehM@Z%=Z%=Z%&@Z%=.?5s<)1 5i=9)9=&񵉢9i9iAAAIIIIY@ @@/@I IO-,>ԉchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267060Ա ,S?A2& @2,@2R<ٱ2J_9 :AHRS rotation from veh to nav: [[-0.732177,-0.680120,-0.036810],[0.681066,-0.731704,-0.027548],[-0.008198,-0.045240,0.998943]]2Hm آJ?j`{5Iʀ)`V?i2& @I2];2CY^}By^,IbDjVDjkyr=%ra=ٔr>Q-v>9tYt=v_Fytz;Ez>|Q 54~Tb?Q 94~3)~MMBYyy?Q I ?~wCI~];i~:~J4yɮwAD9zD=?AEE2 EE?EE*EA"EEi;*EE;VEE(N4ZEAaM@aM@aM@aM@UDNOT Ignoring new targets: 42.61 m.hQhQ*hQ"hQ hYgYfYfafadadajdaZdm:M@ԹZZZZy?=R<)9 =.i=9)9=9iAiAIIIIII>%=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519894I@I @I@Q@QIqIO> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7710799 ,?AB8B8B:IB:}BB: =B8B8B:;B:7EJ @l@@,;ٱm9 %AHRS rotation from veh to nav: [[-0.733688,-0.678538,-0.035886],[0.679450,-0.733175,-0.028334],[-0.007085,-0.045171,0.998954]]H^z_` ?+v} n?iJ @I];CY=}By=.IiMb@Mb@Mb@ 9ʡE?ˡEl?Y=y什=A A A)AY AAAbDVD:y ;% ,=ٔ;Q->9Y=_FyM;E>!Q 5-4%a?Q 9-4%1)%`MBY-!>Q E5;y5?Q I5?%wCI% ;i%:% S4y9ɮ=iA9eDNOT Ignoring new targets: 42.61 m.hihi*hi"hi higififqfuCBdqdqjdyZd}M@Z!>Z!>Z@Z?-,;)) -#i-e9)15 1i1i999EE5 EEREE.EA"EEk;*EE;VEEـ4ZEABEEaԑ ,?Aɰp;2l @2*b@2;ٱ28 :AHRS rotation from veh to nav: [[-0.735091,-0.677070,-0.034896],[0.677942,-0.734539,-0.029087],[-0.005939,-0.045039,0.998968]]2H݅ݡ ?XȝSSxf?i2l @I2^;2CYz~ByzCII~>)~4<bD VD βyB=%q=ٔ]Q-?9!Y!=%_Fy!%/;E-?)Q 554-(`?Q 954-0)-nMBY9y=?Q I=?-&wCI-;i-;-X4yAɮMAIuDNOT Ignoring new targets: 42.61 m.hqhq*hq"hq hqchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.275178gfffddjdZdRM@ZZZZo?;) Ri9)iiIIq@ @@0@IIO>ԡE]7 E]GE]-EY"E]m;*E];VE]t4ZEYae@ae@ae@ae@] DAT read: 04:06:02.3504 LVL= 25552, 19921, 32754, 32755, AGC= 60, IDX= 328, 0.19, 0.025, 1.053,-0.773, 0.535, PHS=-0.409, 0.562,-1.353, RAW= 359.5, 14.3, CAL= 0.0, 17.7, ROT= 150.0, -17.7  Ygot valid direction response: 04:06:02.3504 LVL= 25552, 19921, 32754, 32755, AGC= 60, IDX= 328, 0.19, 0.025, 1.053,-0.773, 0.535, PHS=-0.409, 0.562,-1.353, RAW= 359.5, 14.3, CAL= 0.0, 17.7, ROT= 150.0, -17.7  PDAT read: Bearing 91.7, 27.5 (Local)  ~Local bearing/azimuth received: Bearing 91.7, 27.5 (Local)  DAT read: Range 11 to 50 : 48.9 m (Round-trip 65.2 ms) speed -0.2 m/s  R#Rx 1: Read range and direction messages. ^direction in FSK: [-0.825029,0.476331,0.304033] Fpublishing direction and range infoy) - ?f4|?z0Gu?Y- CB) - c- M) ) )) I) i- ;?- /- ^@- r>- - 2+>)- 6'@I- 2+) ) - i..p߿;|䟸m? - )- 9I- 6'@i- 2+) ) ,[_?A2 @2;@2&;ٱ28 :AHRS rotation from veh to nav: [[-0.736835,-0.675226,-0.033827],[0.676058,-0.736230,-0.030188],[-0.004521,-0.045113,0.998972]]2H&sQC? 2鞿ڄr?i2 @I2^;2CYN~ByRAIbDZVDZ1y % K=ٔ gQ- >9 Y=_FyF;E>9Q 5E4=_?Q 9E4=:/)=MBYIyMABi]Bi]Iܩ?i]+rLi]Bi]:Bi]E@ addTargetRange:: Added new target pos. range: 48.900002 m, deltaT: 60.244056 s, deltaX: 6.100002 m, approachRate: 0.101255 m/s, rangeRepo size: 4 5 Added new target pos. range: 48.683357 m, bearing: 286.739570 deg, lat: 36.779412 deg, lon: -121.859522 deg, deltaT: 60.244056 s, deltaX: 6.070805 m, approachRate: 0.100770 m/s, posRepo size: 4 =DNOT Ignoring new targets: 48.68 m.h9h9*h9"h9 h9gAfAfAfAdIdIjdM@3sH@ZdM?ZZZZB]<AYBe>BaBeIBe}BBe =BaBaBe;Be7EB9B9B9B= =B= =C=Ɗ=5) Em 8 Em :Ei Ei "Em n;*Em $ ;VEi ZEi BEm ܾyƽ< A 1A)AY\A bDVDyM=%@=ٔG_Q->9Y=_Fy;E>Q 544]?Q 94B-)MBY?>Q E;y?Q I?IwCI;i;mg4yɮTA DNOT Ignoring new targets: 48.68 m.h h*h"h hgfffkBdd!jd!Zd%&{?ZE?>ZE?>ZEaq@ZE?'I;) (i9)*iiIIIfA)gAԩ9@ @@#3@IIO%> ,fP?A2 @2W@2:ٱ2#8 :AHRS rotation from veh to nav: [[-0.740056,-0.671802,-0.031606],[0.672543,-0.739355,-0.032254],[-0.001699,-0.045126,0.998980]]2Hg.`y? ˨ [?i2 @I27];2CYB~ByBEI DDbDNVDN yV%V]=ٔVrQ-V>9XYX=Z_FyX^;E^>`Q 5f4b[?Q 9f4b+)bMBYdyf?Q If?bZwCIb:ibN:bm4ylɮnAll DNOT Ignoring new targets: 48.68 m.h h *h "h  h g fffddDzD@AE%< E%,E%.E!"E%,r;*E%;VE%ـ4ZE!a-@a-@a5@a5@jd1Zd5 k?ZZZZ?%:)! %&/i%G9))-5)i)i1QQIQIY@ @@4@I IO% >Ai iߡ Iߥ AB] >BY B] 3IB] }BB] =BY BY B] ց;B] 7E(0,fj?Ap @0@,9ٱm8 AHRS rotation from veh to nav: [[-0.741609,-0.670140,-0.030474],[0.670833,-0.740862,-0.033276],[-0.000277,-0.045121,0.998981]]HA qr4@vw?# %2` ?i @Ii];Y~ByHIiuMb@Mb@Mb@qqqq q9u/$?A`"yuٽut9Y=_Fy;E>Q 54aY?Q 94!))MBY?L>Q E;yu?Q I?swCI":i:Hv4yɮADNOT Ignoring new targets: 48.68 m.hh*h"h hgfff\BddjdZd c?E- E)E-E"Ed;*E0;VEt4ZEBE>Z ?L>Z  @Z u?,9) f&i9)!E!AAiAiIIIIIIQ@ @@4@II1OmW>1Y ,EK?A6. @6~$@6̌ٱ69 >AHRS rotation from veh to nav: [[-0.743093,-0.668541,-0.029434],[0.669187,-0.742302,-0.034288],[0.001074,-0.045176,0.998978]]6Hj`d#i?`:Q?T!?i6. @I6];4YF~ByFDIN@ALbDRVDRyZ%Zs=ٔZ{Q-Z?9\Y\=^_Fy\by;Eb?dQ 5f4fW?Q 9j4fq')fMBYhyj?Q Ij?fwCIf:if:f*|4ypɮrAp DNOT Ignoring new targets: 48.68 m.h h *h "h  h gfffdd!jd!Zd-=?ZAZAZAZE?Y]̌)a e'ie9)aehJe\i!>E= EE0E"Es;*E:VE4ZEa @a@a@a@9@ @@4@IԹIO> 50,c&?A2M @2C@2Lٱ28 :AHRS rotation from veh to nav: [[-0.744357,-0.667179,-0.028354],[0.667777,-0.743531,-0.035145],[0.002366,-0.045095,0.998980]]2H`Y n^?``bc??i2M @I2q];0YB}ByB4IIF<)F<bDJVDJkyV%VK=ٔVRQ-V>9XYX=Z_FyXZ;E^>Q 54U?Q 94^%)MBY!y%?Q I%?wCI;i;e4y)ɮ-#A1]DNOT Ignoring new targets: 48.68 m.hYhY*hY"hY hYgafafafadadijdiZdm AABBB@IB~BBBBB;B7EE A E &E /E "E v;*E ;VE J4ZE BE yt<A 1A)AYAbDVDfy%:=ٔQ->9Y=_FyE>Q 54S?Q 949#)MBYJ>Q E;yg?Q I?wCIX:i:劉4yɮ1ADNOT Ignoring new targets: 48.68 m.hh!*h!"h! h!g!f!f)f-dBd)d)jd1Zd5 @ZUJ>ZUJ>ZU@ZUg?a)i m23im&9)im?am9iԑ JE,?A2 @2-@2ٱ2h8 :AHRS rotation from veh to nav: [[-0.746778,-0.664544,-0.026550],[0.665057,-0.745885,-0.036807],[0.004657,-0.045144,0.998970]]2H@C/&H?@IhآSs? ?i2 @I2];2CE^K E^,E^-E\"E^;*E^;VE^t4ZE\ab@ab@af@af@Yf}ByfI llbDrVDryzh%zX=ٔzxƻQ-~>9|Y|=~_Fy|<E> Q 54 i69)%UgGuliA,9liAY}AE9@A @A@E0@AIQIiOu>ԙB B B B B B B B ;B l7E il, ?A I @@ٱ^9 AHRS rotation from veh to nav: [[-0.747938,-0.663267,-0.025788],[0.663744,-0.747014,-0.037601],[0.005675,-0.045240,0.998960]]H`|9Lhd=?z@ ?w?){?iI @IUj];CY5}By5I 99iMb@Mb@Mb@ 9p= ף?J +{Gzt?Y>yȽף;CA A)AYAbD VD y6%,=ٔ Q-%>9!Y!=%_Fy!-er;E->1Q 5=45P?Q 9=45Y)5MBY=&>Q E=;yE?Q IE?5wCI5:i5]:5ə4yIɮM@AIuDNOT Ignoring new targets: 48.68 m.hyhy*hy"hy hygyfyff=BddjdZdl @Z&>Z&>Z*d@Z׶?) 0i9)Ad) S,d?A2 @2@2 Eһٱ2e)9 >AHRS rotation from veh to nav: [[-0.748775,-0.662347,-0.025152],[0.662793,-0.747833,-0.038087],[0.006417,-0.045189,0.998958]]2H`1 5??Hz?#`v?i2 @I2kl];0YF}ByFIbDNVDNk1yVD%V|=ٔZQ-Z ?9XYX=Z_FyX^;E^ ?`Q 5f4b P?Q 9f4b)bMBYdyj?Q Ij?bwCIbp:ib$:bs4ylɮnAl DNOT Ignoring new targets: 48.68 m.h h*h"h hgfffddjdZd4g@ZZZZZ? Eһ) 4i5A9)9==uyE( E<EE"E`;*E1;VEZEa@a@a@a@ԩ W~,n?A2 @2{@2HGٱ2}8 :AHRS rotation from veh to nav: [[-0.749372,-0.661690,-0.024646],[0.662113,-0.748424,-0.038313],[0.006905,-0.045029,0.998962]]2H`, < 0?``@H|? ~?i2 @I2tB];0@YF}ByFIJAAJAAbDNVDN:2yVY%VJ=ٔZqQ-Z>9XYX=Z_FyX^;E^>`Q 5f4bN?Q 9f4bM)bMBYdyj?Q Ij?bwCI`i`b4ynBɮnAnդEDNOT Ignoring new targets: 48.68 m.h h *h "h  h g f ffddjdZd@@Z9Z9Z9Z=0?MHG)I MA;iU=9)QUUP}BaAaBiBiBm-IBm}BBiBiBiBmh;Bm<7EE N E E .E "E @;*E :VE ـ4ZE BE =ٔuQ-}>9yYy=_FyN:E>Q 54M?Q 94)Y >Q E;yA?Q I?xCI ;i ;4yɮADNOT Ignoring new targets: 48.68 m.hh*h"h hgfqfyf}#BdydyjdZd`@Z >Z >Z0@ZrA?) 0i 9)8*;1a S,O$S?A2S @2@2vٱ27 :AHRS rotation from veh to nav: [[-0.750077,-0.660898,-0.024467],[0.661314,-0.749132,-0.038283],[0.006972,-0.044896,0.998967]]2H& |)?♣Ɏ|?@?i2S @I2O-];2CYBe}ByBIbDJVDJERd ER$ER,EP"ER:;*ER;VERg4ZEPaZ@aZ@aZ@aZ@yқ%Q=ٔ9Q->9Y!=%_Fy!%^:E%>)Q 554-{L?Q 954-Q))Y19y=L?Q IE?-xCI-4;i-I;-ݴ4yQɮUmAQDNOT Ignoring new targets: 48.68 m.hh*h"h hgfffddjdZd@@ZZZZ_L?v) E8iD9)%4e% iԑ Ba Ba Be IBe }BBa Ba Ba Be U;Be *7EB)B)B)B-˾ =B-˾ =C-4Ϳ,m?Af @f2@fNٻٱf7  AHRS rotation from veh to nav: [[-0.750210,-0.660739,-0.024655],[0.661166,-0.749276,-0.038013],[0.006643,-0.044819,0.998973]]fH $ E?E(?nv5{?`@?if @Ifke];fCԑYf}ByIbDVDky-@;%59=ٔ=C:Q-=>9IYI=U_FyQe9Ee>qQ 5}4u$K?Q 9}4u)qYyR?Q I?u"xCIu:iu[:u4yɮgADNOT Ignoring new targets: 48.68 m.hh!*h!"h! h!g!f)f)f)d)d1jd1Zd5 @ZQZQZQZUR?eNٻ)i m7imP9)im"m;iiiqqqIyIyi>E@ E9E.E"Eu;*E ;VEـ4ZEBE! f!,چ?A2# @2@2aǻٱ2 7 :AHRS rotation from veh to nav: [[-0.750275,-0.660648,-0.025111],[0.661097,-0.749352,-0.037703],[0.006092,-0.044888,0.998973]]2H`A@$'?@Mx? ?i2# @I2Mk];2CY^C}By^IiMMb@Mb@Mb@IIII I9M㥛 ?V-YM=yMmMMAM A MA)IIYMAbDeVDe0yu%uX=ٔ_:Q->9Y=_Fy~9E>Q 54J?Q 9 4)MBY =Q E !EY EVE0E"E=;*E;VE4ZEa@a@a@a@Qy n',?A6s @6@6?ٱ68 BAHRS rotation from veh to nav: [[-0.750292,-0.660601,-0.025854],[0.661086,-0.749384,-0.037260],[0.005239,-0.045048,0.998971]]6H`c#y'?`uu?@?i6s @I6];6CYJ}ByJIbDRVDR1yZý%ZW=ٔZ;Q-^>9\Y\=^_Fy`bZ8Eb>dQ 5j4fJ?Q 9j4f)fMBYhyj?Q In?f4xCIfy:if:fɉ4ypɮrAp DNOT Ignoring new targets: 48.68 m.h h*h"h hgfffddjd!Zd%j@ZAZAZAZE?U?)Q U}BBIB}BB =BBB_;B47EԉԱE O E DE ,E "E ;*E h;VE g4ZE BE =ٔ;Q->9Y=_Fy~E>Q 54I?Q 94)MBYd=Q E> 1 4,Dl?Aɰ2 @2b@2HCٱ2S&8 :AHRS rotation from veh to nav: [[-0.749908,-0.660970,-0.027496],[0.661535,-0.749065,-0.035675],[0.002984,-0.044943,0.998985]]2H@?@&` (L+? WD&qh??i2 @I2L^;0EBT EB;EB-E@"EB;*EB ;VEBt4ZE@aJ@aJ@aJ@aJ@YR }ByRIIZ4=)Z=bDfVDf1yvg%vU=ٔvN;Q-z>9xY|=]_FyYeEe>iQ 54mfI?Q 94m`)mMBYy?Q I?mCxCImt;im;mO؉4yɮADNOT Ignoring new targets: 48.68 m.hh*h"h hgfffd d jd Zd /@ZIZIZIZMJ?HC) (5i9)額嵉iiIIi@i @i@m4@iIyIO>9i i I AB B B IB G}BB =B B B n;B C7El ;,J?A F# @F@FӺٱFF8 NAHRS rotation from veh to nav: [[-0.749804,-0.661044,-0.028551],[0.661658,-0.748998,-0.034786],[0.001610,-0.044973,0.998987]]FHdE'p<M,?`pϡXbZ?@?iF# @IFK_;FCYV}ByVIbDjVDjy~P<%I=ٔ f\;Q->9Y!=%_Fy)5KԹE=>QQ 54UI?Q 94U)QYy%?Q I%?UJxCIUyԙ RA,!?A6 @61@6tøٱ6N7 >AHRS rotation from veh to nav: [[-0.749540,-0.661296,-0.029625],[0.661959,-0.748783,-0.033685],[0.000093,-0.044858,0.998993]]6H;`U) U@.?@$?n??i6 @I6:`;4YF}ByFIPiMb@Mb@Mb@ 9~jt?9QYQ=U_FyQ]<E]>aQ 5m4eaI?Q 9m4e<)eMBYm+=Q Em! H,7!?A2h @2@2 :ٱ2Ҵ7 :AHRS rotation from veh to nav: [[-0.749330,-0.661476,-0.030881],[0.662195,-0.748625,-0.032544],[-0.001591,-0.044835,0.998993]]2H*+`0? Z?i2h @I2a;2CYn}BynI ppbDzVDz0|y % O=ٔ w;Q- >9Y=_FyoQE>!Q 5-4%I?Q 9-4%)%MBY)y-Z?Q I-?%RxCI%y:i%:%Q4y9ɮ=A9eDNOT Ignoring new targets: 48.68 m.haha*ha"hi higififqfqdqdqjdqZd}z @ZZZZAZ? :) %i9)页>iiII@ @@/@IIO>)B<A<B>BBIB}BB =BBB;BV7EQԁ bE9jE9rE= x/E C E 7E -E "E x;*E ;VE t4ZE BE {3?  0Al$?i2 @I2ba;2CY^}By`YiMb@Mb@Mb@ 9 rh?Q롿 rh?YC9Y=_Fy[E>Q 54 J?Q 94j)MBY-=Q EԉԹ D/U,U?AR @RH@RBE;ٱR8 bAHRS rotation from veh to nav: [[-0.748968,-0.661750,-0.033690],[0.662586,-0.748379,-0.030156],[-0.005257,-0.044909,0.998977]]RH -? 3?@Gឿu I ?iR @IRb;RCYn;}BynIxxbD~VD~y \=% U=ٔ ;Q- >9YEB EAE.E"Ew;*E;VEـ4ZEa%@a%@a%@a%@=%_Fy!-ȚE->1Q 5=45\J?Q 9=45 )5MBY9y=?Q IE?5ZxCI5j;i5;5{4yIɮMAIDNOT Ignoring new targets: 48.68 m.hh*h"h hgfffddjdZd!"@ZIZIZIZM?}BE;) &i9)顅`iiII>i>e9@a @a@e&0@aIqIO>)B >B B IB }BB B B B ;B [7Ea V[,uo?A4<ɰ4<2_ @2@2;ٱ28 :AHRS rotation from veh to nav: [[-0.749190,-0.661429,-0.035019],[0.662319,-0.748654,-0.029174],[-0.006921,-0.045050,0.998961]]2H] l*`1?`ߝ Y||?i2_ @I2 d;2CYnF}BynIIv<)vp;bDzVDz0y<%J=ٔ%4;Q-->91Y9=E_FyAMo_:EU>iQ 54mJ?Q 94m)mMBYyԧ?Q I?m^xCImk;im ;m4yɮA9DNOT Ignoring new targets: 48.68 m.hh*h"h h!g!f!f)f)dQdQjdYZd]`#@ZZZZԧ?;) #i'9)$/l;iiIE-L E-4E-1E)"E-W;*E- ;VE--4ZE)BE-ԉԹ >b,i?A2 @2z@2<ٱ2ψ8 :AHRS rotation from veh to nav: [[-0.749321,-0.661208,-0.036354],[0.662149,-0.748849,-0.027977],[-0.008725,-0.045035,0.998947]]2H@p(򜢿S0? @Gށ@`?i2 @I2>d;2CYB_}ByBIiMMb@Mb@Mb@IIII I9ML7A`?lZd;O?YM+=yMMj9yYy=}_Fyyd:E>Q 54J?Q 94)MBY_=Q ErD}=D}<EE EE1EE3EA"EEW;*EEf;VEE4ZEAaM@aM@aM@aM@ hh,=E?A2 @2@2@)<ٱ2n8 :AHRS rotation from veh to nav: [[-0.749761,-0.660640,-0.037598],[0.661628,-0.749348,-0.026960],[-0.010363,-0.045090,0.998929]]2H@ `#@@ ,?_ o9@`:?i2 @I2De;2CY^V}BybI fp9tYt=v_Fytz:Ez>|Q 54~J?Q 94~)~NBYy?Q I?~hxCI~;i~;~4yɮADNOT Ignoring new targets: 48.68 m.hh*h"h hgfffddjdZdI$@Z)Z)Z)Z-?]@)<)Y ]-i]9)aee*OB>B,CBIB)}BB =BBDBZ;BC7EBB)CBĔCBĽ =BĻ =Cd6!I E * E 8E 1E "E a;*E  ;VE -4ZE BE @>w@>C<ٱ>Z/8 JAHRS rotation from veh to nav: [[-0.750224,-0.660051,-0.038676],[0.661075,-0.749875,-0.025833],[-0.011951,-0.044949,0.998918]]>H# gͣ@'?@sy "?i> @I>sf;>CYRu}ByRI TTi-Mb@Mb@Mb@)))) )9-&1?:v?Y-P=y-L-<)-K A -A)-A)Y-AbDEVDE:yU=%UC=ٔUx;Q-U>9YYY=]`FyYe:Ee>iQ 5u4mgJ?Q 9u4m)mNBYu=Q Eu.@Zif?C<)q u23iu9)y},}ߗyԩ |u,?AD zD 9IYI=U`FyQU:E]>YQ 5e4]0J?Q 9e4])]NBYiym?Q Im?]wxCI]:i]K:]4yqɮuAyDNOT Ignoring new targets: 48.68 m.hh*h"h hgfffddjdZd&&@ZZZZN?R|]<) 0i@9)PYB] 0CB] IB] Q}BB] =B] =DB] DB] [;B] Y7EĤ{,=?A24 @2@2ou<ٱ2ix7 :AHRS rotation from veh to nav: [[-0.751497,-0.658474,-0.040784],[0.659566,-0.751270,-0.023783],[-0.014980,-0.044773,0.998885]]2H`D 8᤿@*?h @Z n즿?i24 @I2Ig;0YR}ByRIbDZVDZybĝ=%bS=ٔfw;Q-f>9dYd=j`Fyhj6M;Ej>lpQ 5~4rI?Q 94r_)r(NBY y ?Q I?r~xCIrt;ir;r%4yɮpADNOT Ignoring new targets: 48.68 m.hh*h"h hgf!f)f1dYdajdiZd@'@Em\ Em@Em,Ei"Em;*EmM;VEmg4ZEiBEm1a ,6 ?A;ɰ;6 @6I@6x<ٱ6ǐ7 FAHRS rotation from veh to nav: [[-0.752548,-0.657218,-0.041656],[0.658338,-0.752368,-0.023083],[-0.016170,-0.044795,0.998865]]6H  S?f`厐\樂`?i6 @I6g;6CYN}ByNIi%Mb@Mb@Mb@!!!! !9%(\µ?T㥛 S㥛?Y%=y%%/<%CA% A !)%1A!Y%A9bDAVDAyMw=%UB=ٔU9;Q-U>9QYY=]`FyY]{;Ee>aQ 5m4e#I?Q 9u4e< )e4NBYu=Q Eu;yu?Q Iu?exCIe:ie;e-4yɮADNOT Ignoring new targets: 48.68 m.hh*h"h hgfff5\Bd1d9jd9Zd= '@Z}=Z}=Z}@Z}?x<) @iJ9)顝iiIIi@i @i@m0@iqIIO>Ee= EeEe+Ea"Ees;*Ee:VEe [4ZEaam@am@am@am@ԑ ,T$?A2"7 @2,@2#<ٱ2:7 :AHRS rotation from veh to nav: [[-0.753676,-0.655870,-0.042518],[0.657018,-0.753542,-0.022410],[-0.017341,-0.044825,0.998844]]2H`ĥJ?L`?i2"7 @I2h;2CYV}ByZIbDbVDbyj=%jS=ٔjE;Q-j>9lYp=r`Fypr;Er>tQ 5z4v[H?Q 9z4v0 )v?NBY|y~P?Q I~?vxCIv;iv;v34yɮA 5DNOT Ignoring new targets: 48.68 m.h1h1*h1"h1 h1g1f9f9f9dAdAjdAZdE`(@ZaZaZaZeKP?u#<)y }YB%*CB%IB%z}BB% =B%>DB%DB%;B%7EE 8 E CE *E "E n;*E ;VE (N4ZE BE ܾ?A:ZZ @:O@:Д<ٱ:S7 FAHRS rotation from veh to nav: [[-0.755075,-0.654224,-0.043033],[0.655387,-0.754976,-0.021895],[-0.018165,-0.044735,0.998834]]:H) hh@?(k禿 r?i:ZZ @I:'h;:CY}ByIiMb@Mb@Mb@ 9X9v?+/$?Y=y<-A A A)AYAbDVDy%<=ٔ:Q->9Y=`Fy;E>Q 54F?Q 94 )INBY>Q E;y?Q I?xCI? ;i ;\;4yɮADNOT Ignoring new targets: 48.68 m.hh*h"h hgfffVBd!d!jd!Zd%i)@ZE>ZE>ZE@ZEb?]Д<)Y ]p=i]y9)ae8ʵaiaiiIIR>i%>y@ @@4@IIO>Aq Zȕ, AX?AE  EtE0E"EX;*E+;VE4ZEa@a@a@a@ "g>&CT`l9YAyX?~A~ @t@%<ٱm97 AHRS rotation from veh to nav: [[-0.756527,-0.652511,-0.043552],[0.653689,-0.756459,-0.021467],[-0.018937,-0.044710,0.998820]]H w5_bL?4@xUd,䦿`V?i~ @Ig;CY}ByIbDVD:y w=%E=ٔ[:Q->9Y=`Fy%n;E%>!Q 5-4%*@ZZZZ{?%<) 7i9)顽ᵉiiIIE9@A @A@E4@AIYIiOu6>ԁԩiߩ I߭ AB >B (CB IB }BB =B ?DB DB ;B 7E O,^r?AY~}By~IbDVDܲyE '<%EV=ٔEQ-E>9IYI=M`FyIUEU>QQ 5e4UC?Q 9e4U)U[NBYiyiQ Im?UxCIUrB;iUS;UFI4yɮA ԙbEA{4jE~4rE0E-9 E-NE-,E)"E-so;*E-;VE-g4ZE)BE- ڢ,?A6= @6ؿ@6[<ٱ66 >AHRS rotation from veh to nav: [[-0.759504,-0.648992,-0.044291],[0.650190,-0.759487,-0.020800],[-0.020139,-0.044595,0.998802]]6H@MF[?MLP@3զ/?i6= @I6f;6CYF}ByDiEMb@Mb@Mb@AAAA A9Ep= ף?/$I +?YE>yEE99yYy=}`FyyI9<E>Q 54GB?Q 94)eNBY >Q E;y?Q I?xCI ;i] ;`P4yɮADNOT Ignoring new targets: 48.68 m.hh*h"h hgfffiBddjdZd F+@Z >Z >Z`@Z?[<) @i9) ii!!!I!I)@ @@/@IIO=EEL EEI EE-EA"EEW;*EEs<VEEt4ZEAaM@aU@aU@aU@Qi ,xԥ?Aɰ06s @6@6ا<ٱ6n6 >AHRS rotation from veh to nav: [[-0.761132,-0.647067,-0.044517],[0.648273,-0.761126,-0.020702],[-0.020488,-0.044616,0.998794]]6H1[ƴʦ?%[`2 צ@?i6s @I6e;6CY^}BybIbDjVDjyr;%<%rT=ٔrl:Q-r>9tYt=v`Fytz;Ez>xQ 54z@?Q 94z)znNBYy[?Q I?zxCIz;iz;zW4yɮADNOT Ignoring new targets: 48.68 m.hh*h"h hgfffddjdZd@Ȟ,@Z1Z1Z1Z5T[?eا<)a e?ie9)imFiiiiqqqIqIyAAAAԙBM>BIBMIBM}BBIBIBIBMʁ;BM7EY@Y @Y@Y@YIIO>ԹEe # Ee XEe ,Ea "Ee [;*Ee ;VEe g4ZEa BEe g (Ҧ?i2@I2^d;0\Yb}Byb"IiEMb@Mb@Mb@AAAA A9EK7?Zd;Oy&1|?YEI >yEjE`;EAA A)EGAAYAbD]VD]ym<%mB=ٔu :Q-u>9qYy=}`Fyy}ζ;E}>Q 54.??Q 94)rNBY#)>Q E;y?Q I?xCIZ#)>Zg#@ZN?<)  ?i 9) iiII!@ @@/@II!O-,>A E]  E] NEY EY "E] W;*E] ;VEY ZEY ae @ae @ae @ae @",o?A2>@2;4@2<ٱ26 :AHRS rotation from veh to nav: [[-0.764091,-0.643550,-0.044829],[0.644767,-0.764101,-0.020601],[-0.020996,-0.044645,0.998782]]2H ns@?sm`ۦ@?i2>@I2kc;2CYB}ByBI r49Y = `Fy  b;E>Q 54=?Q 9%42)uNBY!y%?Q I%?yCI ;i ;Ze4y1ɮ5A1]DNOT Ignoring new targets: 48.68 m.hYhY*hY"hY hYgafafifididijdiZdu7.@ZZZZ?<) RBim9)顭Y,iiIII)fA=9@9 @9@=C1@9IIIYOe=1YBM >BI BI BI BM =BI BI BM ;BM 7EBIBM*CBMʖCBM =BMʺ =CMʥq7ԉ A,e?A2`@29YYa=e`Fyam;Eu>ԁqQ 54u (,@ ?AY~}By~IiMb@Mb@Mb@ 9HzG?sh|?Mb`?Y= >y;CA A 1A)YpAbDVDy,%>=ٔQ->9Y=`FyE>Q 54M:?Q 94)zNBYJ">Q E;yE?Q I?&yCI3;i1;s4yɮADNOT Ignoring new targets: 48.68 m.hh*h"h! h!g!f!f)f-yBd)d)jd)Zd5 /@ZUJ">ZUJ">ZUl@ZUtE?a)i m=Jim9)imEiiiiqyyIyIy-9@) @)@5s4@1IIIYOm>E-# E-$E-.E)"E-[;*E-;VE-ـ4ZE)a5@a5@a5@a5@1Y S,'?A6M@6@6Zd<ٱ6'=7 >AHRS rotation from veh to nav: [[-0.768115,-0.638744,-0.044777],[0.639966,-0.768119,-0.020903],[-0.021042,-0.044711,0.998778]]6Hf p@즿 z?n`g#d䦿?i6M@I6`;6CYR}ByR ITVBAbDZ VDZ2yb/%b\=ٔfnQ-f>9dYd=f`Fyhj8<Ej>lQ 5r4n8?Q 9r4n\Q =rtI)n{NBYtyv?Q Iv?n5yCInL:in:nXz4yxɮzAx%DNOT Ignoring new targets: 48.68 m.h!h!*h!"h! h!g!f)f)f)d)d1jd1Zd5|O0@ZQZQZQZU?eZd<)i mUNimK9)im9RiiiiqqqIyIyi)>19@ @@/@B5<A5<I9IYOu=B>BBIB}BBBBB;B7EaԑEE 2 EE 3EE *EA "EE i;*EE t ;VEE (N4ZEA BEE )=ٔ뢹Q->9Y=`Fy;E>Q 547?Q 94)YT>Q E;y^?Q I?EyCI ;i ;߁4yɮADNOT Ignoring new targets: 48.68 m.hh*h"h hgfffWBddjdZd ½0@Z%T>Z%T>Z%B@Z%^?=K<)9 =Ei=9)9=_9iAiAAIIIIIԑ@ @@@IIO>Թ E= $ E= 8E= -E9 "E= g\;*E=  ;VE= t4ZE9 aM @aM @aM @aM @^e,Z?A2@2-@2E<ٱ2'S7 :AHRS rotation from veh to nav: [[-0.770389,-0.636014,-0.044573],[0.637232,-0.770380,-0.021196],[-0.020857,-0.044732,0.998781]]2H 9Z@FҦ4d?W [(禿 ?i2@I2F_;2CYB}ByBIbDJVDJ:yR%V[=ٔVQ-V>9XYX=Z`FyXZ;EZ>\Q 5b4^6?Q 9f4^e)^|NBYdyf?Q If?^RyCI^:i^=:^g4yhɮjAlDNOT Ignoring new targets: 48.68 m.hh*h"h hg f f f ddjdZdc1@ZZZ߹߽%=ZD?E<) Ki9)kiiII@ @@/@IIO>I B B B IB }BB B B B ;B 7E2,t?AJ^@J@JMv<ٱJō7 ZAHRS rotation from veh to nav: [[-0.771474,-0.634713,-0.044345],[0.635928,-0.771449,-0.021502],[-0.020563,-0.044788,0.998785]]JH@OoY? `h ?iJ^@IJ ^;JCYfs}ByfI rp9Y=`Fy,;E%>)Q 554-5?Q 9=4-)-}NBY9y=?Q I=?-byCI-* ;i- ;-4yIɮMAIuDNOT Ignoring new targets: 48.68 m.hqhq*hq"hq hgfffdd!jd!Zd%1@E/ E7E,E"Eaf;*E ;VEg4ZEBEϷyԩ v,Q?A6@6S@6<ٱ616 >AHRS rotation from veh to nav: [[-0.772308,-0.633728,-0.043926],[0.634927,-0.772269,-0.021634],[-0.020212,-0.044598,0.998801]]@6H G p}RQ?@n7'զ,?i6@I6H8^;6CYJj}ByJI LLi]Mb@Mb@Mb@YYYY Y9]~jt?MbX9~jthY]=y]ʡ]D]A] A ]A)]AYY]AbDu VDu2yް%C=ٔZQ->9Y=`Fy&L;E>Q 544?Q 94)|NBY=Q E;y?Q I?oyCI:iQ:4yɮCADNOT Ignoring new targets: 48.68 m.hh*h"h hgfff:BddjdZdf1@Z=Z=Z-@Z6?%<)! %Bi-i9))-)i)i111I1I9Ա@ @@K0@IIO >UGiy 9Y%@E E5EE"EW;*E ;VEZEa @a @a @a @ !,c?A2%@2@2_<ٱ2݆7 :AHRS rotation from veh to nav: [[-0.773133,-0.632722,-0.043900],[0.633926,-0.773083,-0.021928],[-0.020064,-0.044782,0.998795]]2H@ C?@z`I? Bt !?i2%@I2];2CY^N}BybIbDjVDj1lyr%vU=ٔvʹQ-v>9tYx=z`FyxzK];Ez>|Q 54~,4?Q 9 4~H)|Y y ?Q I ?~{yCI~:i~:~4yɮAEDNOT Ignoring new targets: 48.68 m.hAhA*hA"hA hAgIfIfIfIdQdQjdQZdUU2@Z!Z!Z!Z%?m_<)i mIim9)qAAAAiiIIBM>BIBMIBMQ}BBM =BIBIBM;BM7E 9@ @@1@IIO">1bE^n4jEAHRS rotation from veh to nav: [[-0.773884,-0.631824,-0.043607],[0.633021,-0.773815,-0.022238],[-0.019693,-0.044814,0.998801]]6H 7SA?@@{Ŗ`*.?i6@9@I6];6CYN;}ByRIi%Mb@Mb@Mb@!!!! !9%9YYY=]`FyYeo8;Ee>iQ 5u4m3?Q 9u4m+)iYu=Q Euԑ E + E E )E "E b;*E VE FA4ZE a- @a- @a- @a- @C,T?A2I@2?@2̞<ٱ2%#8 :AHRS rotation from veh to nav: [[-0.774532,-0.631043,-0.043419],[0.632238,-0.774445,-0.022569],[-0.019384,-0.044932,0.998802]]2H1;K;?AdIٓ`M/?i2I@I2^n];0YN'}ByRIbDZVDZ1y2D%N=ٔ%LQ-%>9!Y!=%`Fy!-';E->1Q 5=45y3?Q 9=45)1Y9y=?Q IE?5yCI5{;i5w;54yIɮMLAIuDNOT Ignoring new targets: 48.68 m.hqhy*hy"hy hygyfffddjdZd@V&3@ԡZZZZ?̞<) Di|9)=iiIIQ@Q @Q@U/@QIaIqO=B>BBIB)}BB =BBB;B7EiI IM A ,+?AFaY@FN@F8<ٱF7 RAHRS rotation from veh to nav: [[-0.775136,-0.630334,-0.042919],[0.631512,-0.775030,-0.022837],[-0.018869,-0.044805,0.998818]]FH +{X5? wb[R@ P?iFaY@IF]];FCYZ#}ByZIbDbVDbyj6!%jO=ٔj誺Q-n>9lYl=r`Fypr;Er>tQ 5z4v!3?Q 9z4v)v{NBYxy~?Q I~?vyCIv;itvܲ4yɮ\ADNOT Ignoring new targets: 48.68 m.hh*h"h hgfffddjdZd3@Z!Z!Z!Z%w?e8<)a eEie9)imiiiiqIIE& E&E,E"E8^;*E;VEg4ZEBEQy ,?A2`g@2\@20<ٱ2p7 :AHRS rotation from veh to nav: [[-0.775683,-0.629691,-0.042498],[0.630855,-0.775555,-0.023144],[-0.018386,-0.044763,0.998828]]2H`d@m&L¥/?@YӒ 릿 g?i2`g@I2j];2CYB}ByBIi Mb@Mb@Mb@     9 i|?5?X9vMbpY q=y }  -A  A A) GA Y AbD%VD%βy5B%5D=ٔ5Q-=>99Y9==`Fy9E;EE>IQ 5U4M2?Q 9U4M)MzNBYUx=Q E]qE( E EE"E`;*E:VEZEa@a@a@a@ԡ < ,)?A2t@2kj@2l<ٱ2.7 :AHRS rotation from veh to nav: [[-0.776207,-0.629075,-0.042042],[0.630225,-0.776058,-0.023453],[-0.017873,-0.044700,0.998841]]2Ha! @*?`x`WM⦿?i2t@I2\];2CYB|ByBIbDJVDJyRE%VU=ٔVخQ-V>9XYX=Z`FyXZ ;EZ>|Q 54~2?Q 9 4~<)|Y y ?Q I ?~yCI~:i~(:~4yɮADNOT Ignoring new targets: 48.68 m.hh*h"h hgfffddjdZd`4@ZaZaZaZe'?BqAu<B}>ByB}IB}}BByByByB}ǁ;B}7EBB(CB“CB =B =C,"6Աl<) PGi<9)iiII@ @@/@IIO>E 8 E E -E "E n;*E 4:VE t4ZE BE ܾ9Y=`Fy;E>Q 542?Q 94)yNBY=Q EIiI9i D zD ?AE 1 E E +E "E 2h;*E :VE [4ZE a @a @a @a @,_]?A 2M@2@2wɉ<ٱ2>7 >AHRS rotation from veh to nav: [[-0.777316,-0.627755,-0.041275],[0.628886,-0.777118,-0.024303],[-0.016819,-0.044848,0.998852]]2H @@!@?%☿8Y?i2M@I2ց];2CY^}By^Idf@AbDjVDjβyr=%rV=ٔr4Q-r>9tYt=v`Fytv;Ez>xQ 5~4z\2?Q 94z)zxNBYy@?Q I?zyCIz;iz;zϊ4y ɮA=DNOT Ignoring new targets: 48.68 m.h9h9*h9"h9 h9gAfAfAfAdIdIjdIZdMn)5@ZZZZd@? wɉ<) ԙB}>B})CB}~IB}|BB} =ByByB};B}7E o+,9dYd=f`Fydj:Ej>hQ 5r4j32?Q 9r4j')hYpyrW?Q Ir?jyCIj;ij+;j֊4yxɮz AxDNOT Ignoring new targets: 48.68 m.hh*h"h h!g!f!f!f)d)d)jd)Zd-܏5@ZiZiZiZmgW?<) 7AiM9)額iiIIE/ EE.E"Eaf;*E:VEـ4ZEBEϷ) $,?A6@6@6L~<ٱ6F7 >AHRS rotation from veh to nav: [[-0.778239,-0.626677,-0.040257],[0.627777,-0.777985,-0.025210],[-0.015520,-0.044892,0.998871]]6HU ? A@Й@0ɏ?i6@I6n];6CYR|ByRI|i5Mb@Mb@Mb@1111 195Mb?/$MbPY5=y5,55A51 A 1)5-A1Y5(AbDVDyx%<=ٔպQ->9Y=`Fyz:E>Q 54A2?Q 94)YPX=Q E{DD=E+ EE,E"Eb;*E :VEg4ZEa@a@a@a@Qԁ ?*,'?AYr|ByrI z4Y9YYa=e`FyamEm>qQ 5}4uM2?Q 94u)qYyQ I?uyCIu;iu;u4yɮ, AB>BBxIB|BB =B>DBB;B7EEDNOT Ignoring new targets: 48.68 m.hAhA*hA"hA hAgIfIfIfIdQdQjdQZdU@h6@ZqZqZqZq) 4i89)顕ŶiiIIE9@A @I@M/@IIYIiOu>ԁԱE* EIE-E"Ea;*E` <VEt4ZEBE9yYy=`FyY,;E>Q 541?Q 94s)wNBY/W=Q E|  G1 I u 9q Yu @9 D zD AAE # E cE +E "E [;*E <VE [4ZE a @a @a @a @iO7,C?A2@2@25\<ٱ227 :AHRS rotation from veh to nav: [[-0.779218,-0.625570,-0.038482],[0.626608,-0.778886,-0.026429],[-0.013440,-0.044707,0.998910]]2H`[`@ - ?`(}㦿?i2@I2u];2CYb|BybIbDjVDj:ye<%eK=ٔeF޺Q-m>9iYi=m`Fyiu:Eu>yQ 54}1?Q 94})yYy#?Q I?}yCI} :i}N:}4yɮ ADNOT Ignoring new targets: 48.68 m.hh*h"h hgfffddjdZd27@ZZZZ#? 5\<) 6i9)2Ѷii!!!I!I)@ @@@IIO>AB>BBBB =BBBׁ;B7Eiԙ y=,M?A.@.Y@.O<ٱ.F7 :AHRS rotation from veh to nav: [[-0.779525,-0.625224,-0.037889],[0.626242,-0.779163,-0.026938],[-0.012680,-0.044726,0.998919]].H@`3f- ? d榿$?i.@I.];.CYB|ByBIbDJVDJ02yVj=%VW=ٔZQ-Z>9XYX=Z`Fy\^y:Eb>pQ 5z4rP1?Q 9z4rb)pYxyz3?Q Iz?ryCIr";ir;rl4yɮA-DNOT Ignoring new targets: 48.68 m.h)h)*h1"h1 h1g1f1f9fddjdZd7@ZZZZ3?O<) 2i5.9)1=ֶ9i9i9AAIAIAybE%g4jE%Ye4rE%Ϛ/E* E:EE"Ea;*E$ ;VEZEBEa2EaJE^lԡ dD,l?Aɰ6@6@6(gB<ٱ6f7 >AHRS rotation from veh to nav: [[-0.779924,-0.624762,-0.037300],[0.625762,-0.779528,-0.027549],[-0.011865,-0.044827,0.998924]]6H`# @=? 5L 0?i6@I6y];6CY^}BybIiuMb@Mb@Mb@qqqq q9uI +? rhMbp?Yu94=yqu;quG A u-A)qqYqbD=VD=NyE@<%M3=ٔMiQ-M>9QYQ=U`FyQU:E]>YQ 5e4]0?Q 9m4])]yNBYmYd=Q EmnE E%E3E"E.;*E;VE4ZEa@a@a@a@! J,B,?Aj@j+@j)<ٱj,L8 vAHRS rotation from veh to nav: [[-0.780532,-0.624068,-0.036163],[0.625030,-0.780074,-0.028665],[-0.010320,-0.044977,0.998935]]jH `^烢@??^rZ"7F?ij@Ij];jCY!}ByIbDVDy-ȋ=%-_=ٔ-ቻQ-->91Y1=5`Fy1=);E=>AQ 5M4Ef0?Q 9M4E8)E{NBYIyM?Q IM?EyCIE:iE:E4yYɮ]VAYDNOT Ignoring new targets: 48.68 m.hh*h"h hgfffddjdZdog8@B>BBIB|BB =BBBف;B7EZZZZy?)<) 1i9)EⶉiiII1@ @@4@IIO=YE3 E$E-E"Ej;*E;VEt4ZEBE9Y=`FyE>Q 54/?Q 94)NBYx=Q EZ)Qԁ E  E 4E /E "E >T;*E ;VE J4ZE a @a @a @a @W,1`?A@R@RM@RD <ٱR8 ZAHRS rotation from veh to nav: [[-0.781274,-0.623212,-0.034885],[0.624128,-0.780752,-0.029836],[-0.008643,-0.045083,0.998946]]RH2 [ zܡ?K:`]?iR@IR];RCYbM}BybIbDnVDnβyvB=%vW=ٔvQ-v>9xYx=z`Fyxz[I;E~>Q 5 4/?Q 9 4)NBY y ?Q I ?yCI:iN:4yɮA9MDNOT Ignoring new targets: 48.68 m.hIhI*hI"hI hIgIfQfQfQdQdYjdYZd]959@ZZZZS?D <) *i=9)]iiII!9@ @@/@IIO>iBBBIB}BBBBB;B7EB])CB])CBYB] =B] =C]5Թii Im A ],y?AJ @J@Jv;ٱJX8 RAHRS rotation from veh to nav: [[-0.781750,-0.622655,-0.034177],[0.623544,-0.781197,-0.030401],[-0.007770,-0.045076,0.998953]]JH`?P!< m?iJ @IJE];HYZQ}ByZIbDfVDfyj- <%jN=ٔnQ-n>9pYp=r`Fypr:Ev>tQ 5z4v/?Q 9z4vb)vNBY|y~?Q I~?vyCIv;ivL;v4yɮ uA 5DNOT Ignoring new targets: 48.68 m.h1h1*h1"h1 h1g1f9f9f9dAdAjdAZdEߚ9@ZaZaZaZe:?}v;)y })i}9)y顅򶉢iiIIE}9 E}3E}-Ey"E}so;*E}t ;VE}t4ZEyBE}9Y=`Fy:E>Q 54G.?Q 94l)NBYߴ=Q EaE2 EE.E"Ei;*EVEـ4ZEa@a@a@a@ԉԹ j,ٗ?APExceeded connect timeout, disconnecting.JF@J@Jϔ;ٱJb8 RAHRS rotation from veh to nav: [[-0.782718,-0.621511,-0.032817],[0.622346,-0.782112,-0.031399],[-0.006152,-0.045000,0.998968]]JH j^͠B?2y 9 ?iJF@IJ1];JCYZ|}ByZIbDbVDb1yj=%n[=ٔnQ-n>9pYp=r`Fypr|;Er>tQ 5z4v-?Q 9~4v)vNBY|y~@?Q I~?v zCIv+;iv;v*4yɮA AU@AAQBYBYB]IB]G}BB] =BYBYB];B]7EDNOT Ignoring new targets: 48.68 m.hh*h"h hgfffddjdZd!o:@Z!Z!Z!Z%@?Uϔ;)Q U7iU9)Y]YiYiaaaIaIiԑ9@ @@/@I!I1Oe>ԹE3 E)E)E"Ej;*E0;VEFA4ZEBE9Y=`FyE>Q 54,?Q 94;)NBY>Q E;yU?Q I?zCI~ ;i ;q24yɮNADNOT Ignoring new targets: 48.68 m.hh*h"h hgfffbBdd!jd!Zd%:@ZE>ZE>ZE!@ZEU?Q)Y ]=Ji]9)Y]YiYiaaaIiIi%9@! @!@%/0@!I1IIOU>A E 5 E GE *E "E k;*E ;VE (N4ZE a @a @a @a @{w,9pYp=r`FypvX;Ev>xQ 5z4z+?Q 9~4z )zNBY|y~?Q I~?z%zCIz;iz;z94y ɮ JA 5DNOT Ignoring new targets: 48.68 m.h1h1*h1"h1 h9g9f9fAfAdAdAjdAZdM@8;@ZaZaZaZe9?}P;)y }Ji}*9)顅iiIIt>i>-9@1 @1@54@1IAIQO]=ԩ%nManaging dock network, ignoring radio surface power offB]>BYB]IB]z}BB] =BYB]DB];B]7E ~,@?A2W@2L@2sp;ٱ2I8 >AHRS rotation from veh to nav: [[-0.784954,-0.618791,-0.030742],[0.619544,-0.784267,-0.033034],[-0.003669,-0.044977,0.998981]]2HW#z@M?頿^n /?i2W@I2č];2CtYz}ByzI ||bD VD ky<%F=ٔ Q->9!Y!=%`Fy!%K;E->)Q 554-)+?Q 954-)-NBY9y=?Q I=?-2zCI-U;i-Q;-2@4yAɮM"AIuDNOT Ignoring new targets: 48.68 m.hqhq*hq"hq hqgyfyfyfyddjdZd;@ZZZZ?sp;) yGi9)iiIIEW E;E,E"ET;*E ;VEg4ZEBE'9Y=`Fy7L;E>Q 54:*?Q 94 )NBY>Q E;y?Q I?CzCIa;iv;G4yɮA%DNOT Ignoring new targets: 48.68 m.h!h)*h9"hA hAgIfagGfyf[Bd m 9iYm.AdjdZd<@Z>Z>Zce@ZS?;OE;) p=is9) iiIIa9@ @@4@E9 EE.E"Eso;*E:VEـ4ZEa@a@a@a@IIOL>ԑԹ ',.?A2@2G~@2JI;ٱ2V8 :AHRS rotation from veh to nav: [[-0.786831,-0.616458,-0.029592],[0.617164,-0.786096,-0.034090],[-0.002247,-0.045086,0.998981]]2H-jMο? '4t@(ib ?i2@I2Ä];0YB}ByBIHJ@AbDJVDJP)yV-=%V]=ٔVmQ-Z>9XYX=Z`FyX^;E^>`Q 5f4bi)?Q 9f4b)bNBYdyf?Q Ij?bQzCIb:ib:bN4ylɮnAlB>B(CBIB}BB =BBDB;B7E%DNOT Ignoring new targets: 48.68 m.h!h!*h)"h) h)g)f)f1f1d1d1jd1Zd= an<@ZQZQZQZU?mJI;)i mW:im9)quqiqԙiII9@ @@/@IIO>bEt4jEcw4rEǧ0EF E.E-E"E>{;*E;VEt4ZEBE=ٔu9Q-u>9yYy=}`FyyC;E>Q 54(?Q 94)NBY'>Q E;y?Q I?czCIi ;i~ ;U4yɮADNOT Ignoring new targets: 48.68 m.hh*hi"hi higifqfqfuBdqdyjdyZd}<@Z'>Z'>Zʯ@Z>? :) Li9)iiII!9I @  @ @ 4@ I I O >q E - E ,E +E "E d;*E ;VE [4ZE a @a @a @a @@9,~b?A2@2@2v^S:ٱ2R8 :AHRS rotation from veh to nav: [[-0.789059,-0.613667,-0.028271],[0.614317,-0.788283,-0.035001],[-0.000806,-0.044986,0.998987]]2H?`(@|?9 롿kJ@Y@?i2@I2];0YB}ByBIbDJVDJy%R=ٔ ξQ- >9 Y =`Fy;E>Q 5%4(?Q 9%4")NBY)y-?Q I-?szCI:i:c\4y1ɮ5A1]DNOT Ignoring new targets: 48.68 m.haha*ha"ha hagafafifididijdqZdu`?=@ZZZZ?ߝ%=ߝR=v^S:) Ni&9)页7iiIIYq@q @q@u/@qIIO=ԁB B )CB IB }BB  =B B B ;B 7E c,l[|?A2@2"@2c9ٱ27 :AHRS rotation from veh to nav: [[-0.790318,-0.612075,-0.027597],[0.612696,-0.789527,-0.035360],[-0.000145,-0.044854,0.998994]]2HIJ`@RB`5?C`w #@!@?i2@I2zK^;2CYB}ByBI Jp9TYX=Z`FyXZ;EZ>\Q 5b4^['?Q 9b4^|)^NBYdyfW?Q If?^zCI^p:i^|:^=c4yhɮjAhDNOT Ignoring new targets: 48.68 m.hh*h"h hgfffddjdZdݩ=@ZZZZW?-c9)) -=Ni-9))-1i1i999I9I9II)IE}8 E}CE}(Ey"E}n;*E};VE}c44ZEyBE}ܾ 9 iY I] A-U,]?A2@2%@2_ٱ27 :AHRS rotation from veh to nav: [[-0.791551,-0.610498,-0.027174],[0.611103,-0.790747,-0.035681],[0.000296,-0.044849,0.998994]]2H@cT3@bӛ@'?MD b3?v?i2@I2^;2CYB}ByBI HHi Mb@Mb@Mb@     9 S?T㥛 ~jtx?Y >y  ; A  A A) rA Y GAbD-VD-:y5&%=@=ٔ=Q-=>99YA=E`FyAc;E>Q 54%?Q 94@)NBYzI>Q E;y(?Q I?zCI" ;i ;j4yɮADNOT Ignoring new targets: 48.68 m.hh!*h!"h! h!g!f)f)f-kBd)d1jd1Zd5>@ZUzI>ZUzI>ZU9ϲ@ZU(?m_)i mGim]9)immEu1 EuHEu-Eq"Eu2h;*Eu;VEut4ZEqa}@a}@a}@a@)Q u,?A$:(@:@:pe ٱ:z 8 BAHRS rotation from veh to nav: [[-0.792801,-0.608887,-0.026893],[0.609481,-0.791984,-0.035985],[0.000612,-0.044920,0.998990]]:H`^|ى݀?@Wl D??i:(@I:^;:CYJ}ByJIBPBPBRIBR}BBR =BPBPBR;BR7EBiBiBiBm =Bm =Cm5bDfVDfyn%nQ=ٔrYTQ-r>9pYp=v`Fytv;Ev>xQ 5~4zh$?Q 9~4z`)zNBYyj?Q I?zzCIz#;iz@;z{q4y ɮ \A 5DNOT Ignoring new targets: 48.68 m.h1h9*h9"h9 h9g9fAfAfAdAdIjdIZdM@t>@ZiZiZiZmj?}pe ) Oi9)顅-y}}}(A} A }CA)}AyY}zAbDVDNyvF%>=ٔ#Q->9Y=`Fy;E>Q 54B#?Q 94V)NBY;>Q E;yY?Q I?zCI:i:x4yɮaADNOT Ignoring new targets: 48.68 m.hh*h"h hgfffABd d jd Zd9>@Z5;>Z5;>Z5I@Z5Y?EU)A E:iEQ9)IM!Mim)>=9@9 @A@E4@AIYIqO>> E ; E E .E "E Dq;*E 4:VE ـ4ZE a @a @a @a @䇸,?A2z`@2V@2imٱ2Ŝ7 :AHRS rotation from veh to nav: [[-0.794893,-0.606171,-0.026471],[0.606748,-0.794071,-0.036170],[0.000906,-0.044812,0.998995]]2H@oe {j?i܄!M?@`?i2z`@I2W^;2CYB}ByBIIF%=)F4=bDNVDNyVG%V\=ٔV}Q-V>9XYX=Z`FyXZ;E^>`Q 5b4bA"?Q 9f4b)`Ydyf?Q If?bzCIb:ib9:b|4yhɮnAl| DNOT Ignoring new targets: 48.68 m.h h *h "h  h g fffddjdZdF?@ZZZZ? im)  ?i X9)$B>BBIB}BB =BBB;B7EQi) I) ԁ ,]?A29v@2k@2Hٱ2S7 :AHRS rotation from veh to nav: [[-0.795698,-0.605114,-0.026491],[0.605693,-0.794881,-0.036065],[0.000766,-0.044742,0.998998]]2H\v]z a?o"w`I?{覿@?i29v@I2 _;0YBg}ByBIbDJVDJyR:%VJ=ٔV9Q-V>9XYX=Z`FyXZaW;EZ>\Q 5b4^(!?Q 9f4^)^NBYdyf?Q If?^zCI^p:i^g:^4yhɮjAlDNOT Ignoring new targets: 48.68 m.hh*h"h hg f f f ddjdZd ?@Z1Z1Z1Z57?MH)I MFiMl9)IM'UAHRS rotation from veh to nav: [[-0.796482,-0.604071,-0.026729],[0.604662,-0.795667,-0.036017],[0.000489,-0.044849,0.998994]]6H@|T^dY?v p@?m?i6o@I6^;4YbQ}BybIiMMb@Mb@Mb@IIII I9Mrh|?:vI +YM=yMԽM94MAM A MZA)IIYMA YYbDeVDekyuM%u>=ٔu ):Q-u>9yYy=}`FyyCE;E>Q 54?Q 94)NBYS%>Q E;y?Q I?zCI;i; 4yvBɮqAEԹDNOT Ignoring new targets: 48.68 m.hh*h"h hgfff3BddjdZd| @@ZS%>ZS%>Z@Z?5) Ei9)>+Em, Em;Em.Ei"Emc;*Em ;VEmـ4ZEiau@au@au@au@ߕ=ߕ<9 ,\Y1?AB A"<B$B$B&IB&f}BB& =B$B$B&;B&7EB@B,@BzٱB7 JAHRS rotation from veh to nav: [[-0.797040,-0.603319,-0.027067],[0.603926,-0.796238,-0.035749],[0.000016,-0.044840,0.998994]]BH`ZdN`m@]S?@z MC>:?iB@IB^;BCY^%}By^I ``bDjVDj:y=Sܽ%EN=ٔEܛ:Q-E>9IYI=M`FyIM`;EM>YQ 5m4]?Q 9m4]9)]NBYqyu ?Q I}?]{CI];i];]4yɮ ADNOT Ignoring new targets: 48.68 m.hh*h"h hgfffddjdZda?@@Z1Z1Z1Z5x ?Uz)Y ]Pi]E9)Y]]T;*Eu;VEug4ZEqBEu#M?$`O.@B@ ?iz@Iz^^;zCY}ByIiMb@Mb@Mb@ 9~jt?sh|?y&1Y=y`e(A A rA)AYQAbDVD:yw%?=ٔj:Q->9Y=`Fy ;E >Q 54Y?Q 94)NBYA=Q E;y%?Q I%?{CIU:i]:}4y)ɮ-:A)UDNOT Ignoring new targets: 48.68 m.hQhY*hY"hY hYgYfYfafeBdadajdaZdm u@@qZA=ZA=Zs@Zަ?D:) Q8i>9)顭&=E} I E} &E} -Ey "E} };*E} ;VE} t4ZEy a @a @a @a @ ,Pe?A6@6D@6:ٱ6B8 BAHRS rotation from veh to nav: [[-0.797669,-0.602432,-0.028292],[0.603094,-0.796903,-0.034986],[-0.001470,-0.044970,0.998987]]6H G@L? :顿XV ?i6@I6*^;6CYJ}ByJIPRAAbDRVDR:2yZ%Z`=ٔ^;Q-^>9\Y`=b`Fy`b:Eb>dQ 5j4f ?Q 9j4f)fNBYlyn?Q In?f{CIfM;if;fᢋ4ypɮrAtDNOT Ignoring new targets: 48.68 m.hh*h"h hgfffd!d!jd!Zd%@@ZIZIZIZMê?e:)a e?ie9)ammB%>B!B%IB%)}BB% =B!B!B%ׁ;B%7E 9 ^,~?A2Ī@2^@2w$;ٱ2H&8 :AHRS rotation from veh to nav: [[-0.797634,-0.602439,-0.029107],[0.603136,-0.796899,-0.034336],[-0.002510,-0.044943,0.998986]]2H@8-G $Ν`L?1d @?i2Ī@I2J_;2CYV|ByZIbDbVDb1yj!%jJ=ٔj(;Q-n>9lYl=n`Fylr8Er>tQ 5z4v?Q 9z4v)vNBY|y~?Q I~?v*{CIv ;iv ;v4yɮA-DNOT Ignoring new targets: 48.68 m.h1h1*h1"h1 h1g1f9f9f9d9dAjdAZdE @@ZaZaZaZe?uw$;)y }Ci}9)y}}9Y=`Fy:E>Q 54?Q 94)NBY=Q E3iM%>9@ @@@IIO>EM# EM$EM0EI"EM[;*EM;VEM4ZEIaU@aU@aU@aU@I BE >BA BE IBE |BBE =BA BA BE ā;BE 7E,?A2@2Z@2c;ٱ27 :AHRS rotation from veh to nav: [[-0.797074,-0.603085,-0.031020],[0.603861,-0.796419,-0.032685],[-0.004993,-0.044784,0.998984]]2HxLß@R?C|!st?i2@I2ߚ_;2CY^|BybxI pr<bDvVDvy#)%S=ٔ Wd;Q- >9Y=`Fy!%κE->)Q 54-S?Q 94-)-NBYyG?Q I?-9{CI-ci_9)顥upiiIIIm9@i @i@q@qIIO>qEU' EUEU/EQ"EU _;*EU:VEUJ4ZEQBEU9YYY=]`FyY]P~Ee>aQ 5m4e?Q 9u4ew)eNBYux=Q EuZ Da zDa Em _ Em Em .Ei "Em ;*Em :VEm ـ4ZEi au @au @au @au @-$,iW?A2@20@2Vs<ٱ2-8 :AHRS rotation from veh to nav: [[-0.796389,-0.603858,-0.033470],[0.604733,-0.795823,-0.031026],[-0.007901,-0.044949,0.998958]]2H`|`R"Y?bw@7ş_.@v?i2@I2m`;2CYB|ByBcIbDJVDJy%½%%`=ٔ%;Q-%>9)Y)=-`Fy)-vE5>=%===1Q 5M45?Q 9M45)5NBYIyM?Q IM?5E{CI5MV;i5'W;5WƋ4yYɮ]!AYDNOT Ignoring new targets: 48.68 m.hh*h"h hgfffddjdZd@A@ZZZZ?Vs<) >i\9)iiIIm9@q @q@u/@qIIO=BBBkIB|BB =BBDB;Bx7EBBBBŻ =BŻ =CŔM51Y  ,j2?A2:@2u@2f<ٱ2[8 :AHRS rotation from veh to nav: [[-0.796033,-0.604259,-0.034677],[0.605181,-0.795517,-0.030158],[-0.009363,-0.044992,0.998944]]2HyV "]?tឿ,7 `X?i2:@I2`;2CYB|ByBkIHJ@AbDJVDJyR2=%RR=ٔVv;Q-V>9TYT=Z`FyXZEZ>\Q 5b4^r?Q 9b4^Y)^NBYdyf?Q If?^K{CI^-:i^:^ ͋4yhɮj Al]DNOT Ignoring new targets: 48.68 m.haha*ha"ha hagafafifididijdqZdu`A@ZZZZ?f<) f;i<9)ciiE1 E+E/E"E2h;*E=;VEJ4ZEBE`iԉԹ 6,A?Aɰ;2Lw@2l@2hZ2<ٱ28 :AHRS rotation from veh to nav: [[-0.795691,-0.604636,-0.035932],[0.605605,-0.795227,-0.029255],[-0.010886,-0.045038,0.998926]]2HLv-Y@ea?r@ 0KH3?i2Lw@I2]a;2ߑCYR|ByRqIi%Mb@Mb@Mb@!!!! !9%S㥛?I +Mb`Y%/9QYQ=`Fy2E>Q 54%?Q 94)Y=Q EE-' E-ME-+E)"E- _;*E-%;VE- [4ZE)a5@a5@a5@a5@ԹB >B B _IB |BB B B B e;B B7E b ,3?Ajo@jd@jdK<ٱj8 zAHRS rotation from veh to nav: [[-0.795371,-0.604980,-0.037207],[0.605996,-0.794962,-0.028371],[-0.012414,-0.045113,0.998905]]jH`s`[@ Qd? Sp g Wl@ ?ijo@Ijza;jCY |By mIbDVDy-O%-L=ٔ5z;Q-5>99Y9==`Fy9=E=>AQ 5M4E?Q 9M4E)ENBYQyU ?Q IU?ER{CIE;iE;Eۋ4yYɮ] AaDNOT Ignoring new targets: 48.68 m.hh*h"h hgfffddjdZd`)CB@ZZZZa ?dK<)I UE58 E5AE1E1"E5n;*E5;VE1ZE1BE5ܾ9IYI=`Fy28E>Q 54u?Q 94;)NBYk=Q Eԑ D= ?AzD= ?AEE B EA EE 0EA "EE w;*EA VEE 4ZEA aM @aM @aM @aM @Ir,g?A2 b@2W@2Ay<ٱ2$8 :AHRS rotation from veh to nav: [[-0.794860,-0.605515,-0.039363],[0.606602,-0.794564,-0.026494],[-0.015234,-0.044937,0.998874]]2H@}oa`l' Ii?`m@7!3 ?i2 b@I2Vb;0YR|ByRIbDZVDZ`yf=%ff=ٔfO;Q-f>9hYh=j`Fyhj En?tQ 5z4v#?Q 9z4v)vNBYxyz?Q Iz?vY{CIv:iv#:vw4yɮ ADNOT Ignoring new targets: 48.68 m.hh*h"h hgfffddjdZd`\B@ZYZYZYZ]?Ay<) s7ic9)顝iiII9@ @@/@IIO>B>BBeIB|BB =BBBY;B67EiIA Z ,{?A2ya@2W@2Ӈ<ٱ2<8 :AHRS rotation from veh to nav: [[-0.794821,-0.605494,-0.040446],[0.606617,-0.794579,-0.025695],[-0.016580,-0.044958,0.998851]]2H@-o@5`Tgi?0mO>?i2ya@I2o,b;2CYR}ByRIbDZVDZNyvP=%vH=ٔvX;Q-v>9xYx=z`Fyxz޲E~>Q 54?Q 9 4)NBY y  ?Q I ?]{CI :i:4yɮA!MDNOT Ignoring new targets: 48.68 m.hIhI*hI"hI hIgIfQfQfQdQdYjdYZd].B@ED E:E/E"Eny;*E$ ;VEJ4ZEBEDiI@I @I@I@IQIaIqO}>qԡ :G! 9 &,V?A2?90Y2AFme@F[@F!ˑ<ٱF18 NAHRS rotation from veh to nav: [[-0.794951,-0.605256,-0.041455],[0.606412,-0.794756,-0.025031],[-0.017796,-0.045037,0.998827]]FH@=p@^9 g?n@ %9 c?iFme@IFa;DYV}ByVIi5Mb@Mb@Mb@1111 195ˡE?;Q-e>9aYa=e`Fyam:Em>qyQ 5}4uY?Q 94u)uNBYj=Q EhE! E%@E%.E!"E!*E%M;VE%ـ4ZE!a5@a5@a5@a5@ Ay A} @AB >B B ~IB |BB B B B s;B N7E,,5?AɰBn@Bd@BO<ٱB^8 JAHRS rotation from veh to nav: [[-0.795291,-0.604754,-0.042244],[0.605937,-0.795135,-0.024511],[-0.018766,-0.045091,0.998807]]BHs%Z򠥿c? q`7`9?iBn@IB7a;BCYr}ByrIIv<)v=bD~VD~N2y An=% P=ٔ x!;Q- >9Y=`FyK:E>!Q 5-4%?Q 9-4%x)%NBY)y-?Q I-?%h{CI%y:i%:%4yYɮ];AYDNOT Ignoring new targets: 48.68 m.hh*h"h hgfffddjdZdFC@ZZZZ?-O<)Q U#:iU`9)QU1YiYiYaaIaIa%9@) @)@- 0@)I9IIOU>bE4jEـ4rE0E> E*E-E"Es;*E;VEt4ZEBE91Y1=5`Fy9=M:E=>AQ 5m4E?Q 9u4E[)ENBYu=Q Eu YiYiYIIYiߙIߝA9@ @@ 0@I)I9OER>ԉD @AzD AAE% 7 E% 0E% +E! "E% m;*E% ;VE% [4ZE! a- @a- @a- @a- @Ա 9,'?A: @:}@:4P<ٱ:8 FAHRS rotation from veh to nav: [[-0.796191,-0.603479,-0.043520],[0.604701,-0.796104,-0.023570],[-0.020423,-0.045083,0.998775]]:HdzOCHY? y"@锿?i: @I:/Va;8YNX}ByNI VpB>BBIB }BB =BBB|;BW7Eԡ E@,?A:@:/@:s<ٱ:?8 FAHRS rotation from veh to nav: [[-0.796865,-0.602559,-0.043917],[0.603793,-0.796802,-0.023254],[-0.020981,-0.045047,0.998765]]:H`)H9|`ER?g ϗ| [ ?i:@I:#`;8YNu}ByNI PPbDVVDVy^y=%bL=ٔb:Q-b>9dYd=f`Fydf`9;Ef>hQ 5n4j?Q 9r4j)jOBYpyr?Q Ir?j{CIjI;ij;j4ytɮvAxDNOT Ignoring new targets: 48.68 m.hh*h"h hg!f!f!f!d!d)jd)Zd- C@ZIZIZIZMb?]s<)a e.4ie9)aeTaiaiiiqIqIqE EE1E"E*E:VE-4ZEBEAHRS rotation from veh to nav: [[-0.797707,-0.601429,-0.044117],[0.602668,-0.797659,-0.023066],[-0.021317,-0.044988,0.998760]]2H`ц>r`I?`k@ 8ԕ?i2@I2b`;0Yv}ByvIiuMb@Mb@Mb@qqqq q9ush|??K~jt?Yu=yu^u9Y=`Fy4U;E>Q 54L?Q 94B)OBY~>Q E;y*?Q I?{CIr;i;S4yɮ}ADNOT Ignoring new targets: 48.68 m.hh*h"h hgfffpBddjdZd@D@Z%~>Z%~>Z%~u@Z%H*?=$<)9 =zTi=9)AEbAiAiIIIIIIIԉ9@ @@@D=DR=EP E4E,E"E(;*E ;VEg4ZEa@a@a@a@II!O-->Թ B- >B) B- IB- G}BB) B) B) B) B) BBBBʺ =Bʺ =Cʮ4L,x6?A2@29@2ʮ<ٱ2}7 :AHRS rotation from veh to nav: [[-0.798699,-0.600118,-0.044013],[0.601352,-0.798653,-0.023021],[-0.021335,-0.044854,0.998766]]2H@`+4ӈF>?ᒗؕ?i2@I2`;2ߑCYB}ByBIHHbDJVDJyRT<%R[=ٔVqJ8Q-V>9TYX=Z`FyXZ;EZ>\`Q 5f4b?Q 9f4b)bOBYdyf_?Q Ij?b{CIb:ib:b!4ylɮn_AlDNOT Ignoring new targets: 48.68 m.hh *h "h  h g f ffddjdZd FD@ZZZZ_?ʮ<) Ri 9)页oiiIIm9@i @q@q@qIIO=EF E,E.E"E>{;*E;VEـ4ZEBE9QYQ=U`FyY];E]>aQ 5m4e&?Q 9m4e)e(OBYu >Q Eu;yu?Q Iu?e{CIeT ;iez ;ek*4yyɮ}AyDNOT Ignoring new targets: 48.68 m.hh*h"h hgfffOBddjdZd̄D@Z >Z >Z@Z,?ʼ<) p=i9)|iiIII9@ @@@IIOC>qԡ E w E )E /E "E ؓ;*E 0;VE J4ZE a @a @a @a @Z,.j?AB @B{@B~í<ٱB17 JAHRS rotation from veh to nav: [[-0.800944,-0.597131,-0.043840],[0.598363,-0.800887,-0.023280],[-0.021210,-0.044879,0.998767]]BH@V@r%?ݠ֗Y?iB @IB?~_;BCr=pY~}By~IbDVDy-=%5t=ٔ5Q-5?99Y9=E`FyAE;EM?QyQ 54U?Q 94U)U0OBYyK?Q I?U{CIUD;iU;UL04yɮA5DNOT Ignoring new targets: 48.68 m.h1h1*h9"h9 h9g9f9fAfAdAdAjdAZdMlD@ZZZZK?~í<) A5i9)ÃiiIIe>i@ @@0@ԩIB>BBIBz}BB =BBB;Ba7EIO)> H`,, ?A2%@2l @2j<ٱ2N7 :AHRS rotation from veh to nav: [[-0.801966,-0.595773,-0.043635],[0.596998,-0.801901,-0.023408],[-0.021045,-0.044823,0.998773]]2H`bW?`,Mꌕ `?i2%@I2_;2ߑCYB}ByBI J49XYX=Z`FyXZҐ;E^>Q 54?Q 9%4):OBY!y%?Q I%?{CI';i#;974y)ɮ-{A1]DNOT Ignoring new targets: 48.68 m.hYhY*hY"hY hYgafafafadidijdiZdm`D@ZZZZ?j<) B4i9)顥1iiIEB E9E1E"Ew;*E ;VE-4ZEBEy  t<  ^ A ) A Y pAbDVDJy<%<=ٔ{mQ->9Y=`Fy;E>Q 54?Q 94 )?OBYC>Q E;y?Q I?{CI;iG;>4yɮTADNOT Ignoring new targets: 48.68 m.hh*h"h hgfffBddjdZd`E@Z%C>Z%C>Z%@Z%?1=2<)9 ==Ji=9)AEAiAiIIIIIIQ9@ @@4@IIO>E8 E:E-E"En;*E$ ;VEt4ZEa@a@a@a@aԉB >B B IB }BB =B B DB ;B `7EԹ iJm,?A2e@2][ @25<ٱ27 :AHRS rotation from veh to nav: [[-0.804305,-0.592671,-0.042840],[0.593875,-0.804196,-0.024104],[-0.020166,-0.044828,0.998791]]2Hݼ`( 勵@?@`` ?i2e@I2Y^;2ޑCY^}BybIbDjVDjNyr^%rV=ٔrKQ-r>9tYt=v`Fytz;Ez>xQ 54z?Q 94z,)zCOBYy?Q I?z{CIz;iz;zEE4yɮYA=DNOT Ignoring new targets: 48.68 m.h9h9*h9"hA hAgAfAfAfIdIdIjdIZdMzIE@ZiZiZiZm?=5<)A EJiE9)AEAiAiIIIIQIQaԑ9@ @@4@IIO >E7 E%E+E"Em;*E;VE [4ZEBE4t,?Af@f1z @f~<ٱf"7 AHRS rotation from veh to nav: [[-0.805431,-0.591181,-0.042254],[0.592368,-0.805294,-0.024529],[-0.019526,-0.044787,0.998806]]fH`_ ?`:N`7?if@IfU^;fݑCYM}ByMIbDVDk2y%<=ٔ㿺Q->9Y=`Fyt;E>Q 54E?Q 94)IOBYy?Q I? |CI;i\;IM4yɮbA%DNOT Ignoring new targets: 48.68 m.h!h!*h!"h! h!g!f)fifidqdqjdqZdu@AE@ZZZZy?~<) Ki9)񜶉iiII ֐C}G9Y@a@a @a@e4@aIqIO;>A E ' E 8E .E "E _;*E  ;VE ـ4ZE a @a @a @a @\z,u?Aɰp; :@: @:i<ٱ:7 JAHRS rotation from veh to nav: [[-0.806540,-0.589707,-0.041708],[0.590878,-0.806373,-0.025017],[-0.018879,-0.044822,0.998817]]:H,Zy?@!U@N?i:@I:G^;:ߑCYV}ByV IiMb@Mb@Mb@ 9?K7Mbp?Y>yI ; A A)AYAbDVDy~%K=ٔ=ӺQ->9Y=`Fy;E>Q 54?Q 94)LOBY=>Q E;y ?Q I?|CIX;i ;S4ysBɮAE-DNOT Ignoring new targets: 48.68 m.h)h)*h)"h) h1g1f1f9f=gBd9d9jdAZdE@ߴE@Z=>Z=>Zv@Zf ?5i<)1 =Ei=.9)9=9i9iAAAIAIIiBu>Bu(CBuIBu}BBu =BqBqBu;Buj7E9@ @@/@ II)O5.>ԙ D,DQ?A2J@2 @2?<ٱ2!7 :AHRS rotation from veh to nav: [[-0.807532,-0.588389,-0.041117],[0.589542,-0.807336,-0.025455],[-0.018218,-0.044796,0.998830]]2HM`@D `? ೧@s樂j?i2J@I2+^;2CYB}ByFIPbDNVDNyV@%Z_=ٔZKQ-Z>9XY\=^`Fy\^;Eb>`Q 5f4b?Q 9f4bL)bOOBYhyj??Q Ij?b/|CIb:ib:bWZ4ylɮrArE DNOT Ignoring new targets: 48.68 m.h h *h "h  h gfffdbE%A{4jE%}4rE%(90E E7E-E"EV;*E ;VEt4ZEBE}! n,k,?A2@2 @2׎<ٱ2F7 :AHRS rotation from veh to nav: [[-0.808465,-0.587156,-0.040402],[0.588286,-0.808237,-0.025919],[-0.017436,-0.044723,0.998847]]2H@=?ڑ妿?i2@I2E^;2ݑCYB}ByBI|iMb@Mb@Mb@ 9?L7A`~jtxYy+ĻlAG A -A)AYpA %p<%p<bD-VD-0y=@%=B=ٔEQ-E>9AYA=E`FyIM s;EM>QQ 5]4U)?Q 9]4UK)UNOBY]B:>Q Ee;ye?Q Ie?UC|CIUm ;iUr;Ua4yiɮmAiDNOT Ignoring new targets: 48.68 m.h1h1*h1"h1 h9g9f9f9fEeBdAdAjdAZdE eF@ZB:>ZB:>Z@ZB?׎<) =Jio9)iiII)@ @@@IE) EHE+E"E`;*E;VE [4ZEa@a@a@a@IO$>QBm <Am <Bu >Bq Bu IBu }BBu =Bq Bq Bu ;Bu l7Eԑ Θ,9?A:@:P @:/<ٱ::6 BAHRS rotation from veh to nav: [[-0.809185,-0.586211,-0.039697],[0.587317,-0.808929,-0.026309],[-0.016689,-0.044604,0.998865]]:H > SL?E֦`?i:@I:)^;:ߑCYJ}ByH LLbDVVDVky^;%^S=ٔbUQ-b>9`Y`=f`FydfL;Ef>hQ 5n4jd ?Q 9n4ju)jMOBYpyr?Q Ir?jU|CIj] ;ijG ;j}h4ytɮv AtDNOT Ignoring new targets: 48.68 m.hh*h"h hgf!f!f!d!d)jd)Zd-wKF@ZIZIZIZM?Ye/<)a eJieD9)imiiiiqqqIqIy9@ @@0@IIO=ԁE E@E,E"E*EM;VEg4ZEBE9Y=`Fy#%;E>Q 5-4 ?Q 94X)LOBYy?Q I?i|CI0i)>e9@a @a@eJ0@aIyIO;>E  E 'E +E "E V;*E ";VE [4ZE a @a @a @a @9 ɫ,l?AB!@B!@Bbw<ٱB6 NAHRS rotation from veh to nav: [[-0.810581,-0.584369,-0.038358],[0.585433,-0.810259,-0.027376],[-0.015082,-0.044646,0.998889]]BHG'`ݻ?@s?㎿ۦ ?iB!@IB!^;BCYV\}ByZIi}Mb@Mb@Mb@yyyy y9}S㥻?7A`¿~jthY}/=y}}D}A} A }rA)}CAyY}zAAAbDVDy%J=ٔQ->9Y=`FyuK;E>Q 54t ?Q 94u)MOBY:>Q E;y!?Q I?||CI:iZ:$w4yɮ*ADNOT Ignoring new targets: 48.68 m.hh*h"h  h g f f f#BddjdZd F@Z=:>Z=:>Z=@Z=!?Mbw<)Q U:iU:9)Q]YiYiYaaIaIa9@ @@4@BBBIBz}BBBBB;Bx7EB(CB(CBBü =Bü =C5IAIQOe>Aqԙ ҕ,"?A2"@2w!@2#h<ٱ2b6 :AHRS rotation from veh to nav: [[-0.811189,-0.583577,-0.037558],[0.584612,-0.810832,-0.027920],[-0.014160,-0.044605,0.998904]]2HC@:%?`V@֦@?i2"@I2W^;2ݑCY^V}By^II`)bp=bDfVDfyn%nX=ٔrQ-r>9pYp=v`Fytv0;Ev>xQ 5~4zf ?Q 94z)zNOBYyC?Q I?z|CIz:iz[:z}4y ɮCA=DNOT Ignoring new targets: 48.68 m.h9h9*h9"h9 hAgAfAfAfAdIdIjdIZdM@DF@ZiZiZiE}% E}6E}*Ey"E}O];*E} ;VE}(N4ZEyBE}ԙ ϼ,t?A6/@61%!@6f[<ٱ67 BAHRS rotation from veh to nav: [[-0.811652,-0.582972,-0.036954],[0.583988,-0.811263,-0.028455],[-0.013391,-0.044676,0.998912]]6H ``뢿@?@4#lߦ?i6/@I6.7^;6CY^,}BybIiMMb@Mb@Mb@IIII I9MCl?RQ~jtYM;=yM½MMAMG A M-A)IIYMAbDeVDe1ym3ǽ%uB=ٔuQ-u>9yYy=}`Fyy :E>Q 54? ?Q 94)GOBYU>Q E;y?Q I?|CI ;i ;!4yɮADNOT Ignoring new targets: 48.68 m.hh*h"h hgfff/BddjdZdMG@Z}U>Z}U>Z}0@Z}n?f[<) Li9)顽ǴiiIIm9@i @i@m/@iIyEK EE-E"E;*Ee;VEt4ZEa@a@a@a@IO>1 A A B B B IB G}BB =B B B ;B 7E,Q?A28@2\.!@2N<ٱ2+6 >AHRS rotation from veh to nav: [[-0.811987,-0.582547,-0.036288],[0.583540,-0.811569,-0.028918],[-0.012604,-0.044657,0.998923]]2H`9I\?@`@ʜ`ω;ݦ-?i28@I2k ^;2ܑCYB1}ByFI J;J4<bDNVDNyV`<%VX=ٔV%Q-Z>9XYX=Z`FyX^:E~>Q 5 4/ ?Q 9 4)@OBY y ?Q I?|CI:it:䋌4yɮAeDNOT Ignoring new targets: 48.68 m.hahi*hi"hi higififqfqdqdjdZdOG@ZZZZ?N<) yKi9)iiII!1@ @@/@IIO% >YE< EaE.E"E,r;*E!;VEـ4ZEBE9Y=`FyH:E>Q 5%4?Q 9-4)9OBYiym ?Q I?|CIԹ E Y E 4E ,E "E =;*E ;VE g4ZE a @a @a @a @,y?AJB@J7!@J>8<ٱJ7` AHRS rotation from veh to nav: [[-0.812333,-0.582128,-0.035251],[0.583085,-0.811862,-0.029845],[-0.011245,-0.044799,0.998933]]JHʠl ࢨ?ŏ 樂A?iJB@IJ,^;JݑCY|ByIiEMb@Mb@Mb@AAAA A9EʡE?㥛 rhYE=yEECEXAE A ErA)ErAAYEAbDVD1y%'=ٔģQ->9Y=`Fy9E>BBBIB }BB =BBBBQ 54=?Q 94)2OBY=Q E;y?Q I?|CI;ie;4yɮADNOT Ignoring new targets: 48.68 m.hh*h"h hgfffBdd!jd!Zd%@G@ZE=ZE=ZEFȰ@ZE?]>8<)Y ]33i]V9)Y]Q~aiaiiiiIiIiIy)y9@ @@/@IIO>A ,?A2C@29!@2-<ٱ2Ù7 :AHRS rotation from veh to nav: [[-0.812404,-0.582062,-0.034695],[0.582999,-0.811909,-0.030255],[-0.010559,-0.044807,0.998940]]2H@7?á?`)`= P?i2C@I2E^;2ߑCYN|ByR}ITTbDZVDZyv%v=ٔv Q-v ?9xYx=z`Fyxz 9E~ ?9Eex EeDEe/Ea"EeL;*Eeh;VEeJ4ZEaBEe9Y=`Fy|9E>Q 54R?Q 94)(OBY=Q E?Eme EmTEm,Ei"Em;*Em;VEmg4ZEia}@a}@a}@a}@B A B B B xIB |BB B B B ;B 7E 5,;?A61D@69!@6yU<ٱ677 BAHRS rotation from veh to nav: [[-0.812424,-0.582099,-0.033591],[0.582995,-0.811881,-0.031087],[-0.009176,-0.044839,0.998952]]6H`2?`f՟ʂ.`j?i61D@I6];6ݑCYF|ByJxIbDRVDRJyZ;%Z`=ٔZQ-^>9\Y`=b`Fy`blEb>dQ 5j4f?Q 9j4fr)f$OBYlyn?Q In?f|CIf;if;f4ypɮrb Ap DNOT Ignoring new targets: 48.68 m.hh*h"h hgfffdd!jd!Zd%@vPH@ZAZAZAZEA?UyU<)Q ]20i]9)YeկaiaiaiiIiIi}R>i}!>@ @@/@I!I1OE=!Du%=Du<bEg4jE7i4rEַ/E}A E}#E}+Ey"E}v;*E};VE} [4ZEyBE}9Y=`Fy%E%>)Q 5-4-?Q 954-)-OBY1y5?Q I5?-|CI-):i- :-U4yAɮE AADNOT Ignoring new targets: 48.68 m.hh*h"h hgff fdd!jd)Zd-H@YZYZYZYZ]?<) +6i9)顝 iiII@ @@ 2@ԉIIO?>ԩE B E E -E "E w;*E x:VE t4ZE a @a @a @a @ G,Mo?A2v5@2+!@2<ٱ2`7 :AHRS rotation from veh to nav: [[-0.811906,-0.582863,-0.032858],[0.583730,-0.811333,-0.031590],[-0.008246,-0.044828,0.998961]]2H`"ϦҠ@?p,` 〿|?i2v5@I2{ ^;2ޑCYF|ByFlI HHi]Mb@Mb@Mb@YYYY Y9]9Y=`Fy̋E>Q 54M?Q 94,)OBYtM=Q EBiBm_IBm|BBm =BiBiBm;Bm7E@ @@/@IIO&>i1I1 9 /,(?A2/@2%!@2?;ٱ247 :AHRS rotation from veh to nav: [[-0.811697,-0.583173,-0.032510],[0.584027,-0.811107,-0.031912],[-0.007759,-0.044889,0.998962]]2HmY`%`X?V~?i2/@I2^;2ݑCY^|By^gIbDjVDj0yrD%rU=ٔrkQ-r>9tYt=v`Fytz xEz>xQ 54z?Q 94z)zOBYy?Q I?z|CIz/;iz;zWČ4y ɮ AD9zD=@AEE! EE&EE.EA"EEY;*EE;VEEـ4ZEABEE֬9i Y,>?A :R*@:!@:j;ٱ:8 BAHRS rotation from veh to nav: [[-0.811515,-0.583441,-0.032254],[0.584286,-0.810906,-0.032270],[-0.007327,-0.045033,0.998959]]:Hx? [~ x?i:R*@I:3];8YJ|ByJcIiMb@Mb@Mb@ 9+?QMbY=yu A)AY))bD5VD5yE\%ED=ٔEՇQ-M>9IYI=M`FyIUGEU>YQ 5e4]6?Q 9e4]K)]OBYeB.=Q EeԡAI AI BU >BQ BU XIBU |BBQ BQ BQ BU Ձ;BU 7EBBBBɽ =Bɽ =CB,5 r,߼?Aɰ;2#@2-!@2 ;ٱ2I8 :AHRS rotation from veh to nav: [[-0.811276,-0.583786,-0.032004],[0.584622,-0.810654,-0.032520],[-0.006960,-0.045093,0.998959]]2Hab8?k|@cx?i2#@I2\];2ޑC\Yz|ByzoIbD VD :y>=%M=ٔqQ-%>9!Y!=%`Fy!-?E->1Q 5=45s?Q 9=45)5OBY9y= @Q IE?5|CI5;i5;5Ҍ4yIɮM AIuDNOT Ignoring new targets: 48.68 m.hqhq*hy"hy hygyfyffddjdZdTI@ZZZZ @ ;) !i9);iiII9@ @@0@IIO=E] E])E]/EY"E]N;*E]0;VE]J4ZEYBE]o9xYx=z`FyxzGE~>Q 54?Q 9 4)OBY y  @Q I ?|CI-:i:ٌ4yԡɮ ADNOT Ignoring new targets: 48.68 m.hh*h!"h! h!g1f9fAfAdQdQjdYZdeI@ZZZZ( @;) m i9)iiIII)iI9@ @@0@IIOC>Em  Em !Em +Ei "Em M;*Em :VEm [4ZEi a} @a} @a} @a} @ ,?A6@6' !@6ڗ;ٱ68 >AHRS rotation from veh to nav: [[-0.810708,-0.584604,-0.031482],[0.585418,-0.810062,-0.032944],[-0.006244,-0.045138,0.998961]]6HQ t?@ݠ`y U}?i6@I6];6ݑCYF|ByFzIiMb@Mb@Mb@ 9~jt?QY=yAG A )YA -p<-p<bD=VD=k1y]<%]C=ٔeq Q-e>9iYi=m`Fyiu'ҺE}>Q 54?Q 94,)OBYU'=Q EIq },Hp ?A: @:!@:K;ٱ:_9 FAHRS rotation from veh to nav: [[-0.810493,-0.584908,-0.031350],[0.585717,-0.809837,-0.033164],[-0.005990,-0.045241,0.998958]]:H@ 2?.jx`)w?i: @I:];8YJ|ByNIbDVVDVܲy^Iu=%^V=ٔb-Q-b>9`Y`=b`Fy`fk}Ef>hQ 5n4j4?Q 9n4jԙ)hYlyr@Q Ir?j}CIj;ij@;j4ytɮvAtDNOT Ignoring new targets: 48.68 m.hh*h"hE% E%E%,E!"E%V;*E%:VE%g4ZE!BE%}9Y=`FyvE>Q 54?Q 94T)OBYc=Q Eoi=%>E5 E5E5.E1"E5[I;*E5]:VE5ـ4ZE1aE@aE@aE@aE@@ @@/@IIO'>BA4=B>BBqIB|BB =BBB;B7E 9 o,&>?AiI@ @;ٱi 9  AHRS rotation from veh to nav: [[-0.810010,-0.585598,-0.030966],[0.586390,-0.809343,-0.033334],[-0.005542,-0.045159,0.998964]]H 8@?""v`@?i@IY];ޑCY]}By]IbDVDyx=%.=ٔQ->9Y=`FylE>Q 54?Q 94ǘ)OBYy^@Q I?}CIB:i9:y4y ɮA=DNOT Ignoring new targets: 48.68 m.h9h9*h9"h9 h9g9fAfAfAdddjdZdEeJ@ZZZZ^@|Bɢ:) %p,X?A 2@2y @2閮;ٱ2H9 >AHRS rotation from veh to nav: [[-0.809973,-0.585657,-0.030831],[0.586443,-0.809297,-0.033506],[-0.005328,-0.045219,0.998963]]2HK %?'`u&?i2@I2$];2ۑCYF)}ByFIIJ=)J=bDRVDRNyZ=%Z=ٔZ5Q-Z?9\Y\=^`Fy\bocEb?dQ 5j4f?Q 9j4fn)fOBYhyj]@Q Ij?f}CIf:ify:f4ypɮrAp DNOT Ignoring new targets: 48.68 m.h h *h "h hgfffdddjd!Zd%GJ@ IMCgG!I}O 9Y@ZZZZ]@qM}Bɢ)A1;) D=i)8iV EU  EU (EU /EQ "EU >T;*EU ;VEU J4ZEQ ae @ae @ae @ae @T,q?A:_@: @:Ev;ٱ:18P ZAHRS rotation from veh to nav: [[-0.809956,-0.585697,-0.030504],[0.586469,-0.809277,-0.033527],[-0.005049,-0.045045,0.998972]]:H(`~<Z?@*®t@3?i:_@I:T\;:ܑCYjE}ByjI5only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 93.51, 89.77, 89.09 a=@a= a=@aE aE@aE aE@aE bDMVDM0ymY=%u?=ٔ}#*Q->9Y=`FyE>Q 54?Q 94)OBQ A+:YQ EA4yɮA}DNOT Ignoring new targets: 48.68 m.hyhy*hy"hy hgfffdddjdBBBIB|BB =BBB;B7EZd@J@5}Bɢ=;d;)9 =H=i9)=8AAiE)",?A2@2 @2U;ٱ28 :AHRS rotation from veh to nav: [[-0.810016,-0.585621,-0.030376],[0.586388,-0.809333,-0.033608],[-0.004903,-0.045035,0.998973]]2H g?5`t?i2@I2Q\;2ݑCYfX}ByfI hj<bDnVDnkyvAD=%vS=ٔzLƹQ-z>9xYx=~`Fy|D|zD~?AbEA{4jEv4rEE' E E+E"E _;*E:VE [4ZEBE)Q 554-q?Q 954-{)-OBQ A= :Y9Q E=J(,?A2 @2 @2;ٱ2*9 :AHRS rotation from veh to nav: [[-0.810356,-0.585155,-0.030272],[0.585919,-0.809661,-0.033879],[-0.004685,-0.045191,0.998967]]2Ho ٿ? X1sJ#`?i2 @I2\;2ۑCYBs}ByBIa=a= a=a= aEaE aEaE iEMb@Mb@Mb@AAAA A9E/$?X9v rh?YE=yE}EC9qYq=u`Fyqy}:E}>Q 54P?Q 94g)OBQ AT:Y=Q E;y?Q I?.}CI;id;4yɮADNOT Ignoring new targets: 48.68 m.hh*h"h hgfffBdddjdZd'K@Z=Z=Z@Z?.}BɢHR;) "=i)69itAAAABBBIB3}BB =BBB;B7E k/,m?A2"@2!@2i;ٱ29 :AHRS rotation from veh to nav: [[-0.810701,-0.584687,-0.030089],[0.585444,-0.810001,-0.033975],[-0.004508,-0.045159,0.998970]]2H@B µϞ`? evr@?i2"@I2];0YBt}By@bDLVDLyRI;%VW=ٔVQ-V>9XYX=Z`FyXZ:E^>`Q 5b4bG?Q 9f4bk)b'OBYdyf?Q If?b8}CIbK:ibd:b'4yhɮnAlDNOT Ignoring new targets: 48.68 m.hh*h"h hg f f f dddjdZdWK@Z1Z1Z1Z5?M;}BɢMԉ;)I Mc=iI)Ub9QQiU^<i`@=II)9@ @@4@^AUYAgAzAdAEU E*E,E"El;*E;VEg4ZEBEQy 6,fL?A6!@6!@62;ٱ6S9 BAHRS rotation from veh to nav: [[-0.811231,-0.583956,-0.029974],[0.584709,-0.810524,-0.034150],[-0.004352,-0.045230,0.998967]]6H@ůz?)|q`_(?i6!@I6p$];6ݑCYJ}ByJIbDRVDRyZR<%ZI=ٔZȹQ-^>9\Y\=^`Fy`ba;Eb>dQ 5j4f+?Q 9j4f])f/OBYhyj?Q In?fC}CIf;if;f>4ypɮrAp DNOT Ignoring new targets: 48.68 m.h h *h"h hgfffddd!jd!Zd%ދK@ZAZAZAZE ?UI}BɢU{;)Y ]\[=iY)] 9YYieIiIiY9@ @@/@@gA@gA^A4IQIaOm>ԁԩE-  E- E- /E) "E- ,K;*E- 86;VE- J4ZE) a5 @a5 @a= @a= @ _4<,0?Af 2@f'!@fe;ٱf]8 rAHRS rotation from veh to nav: [[-0.811805,-0.583176,-0.029634],[0.583914,-0.811094,-0.034217],[-0.004081,-0.045081,0.998975]]fHN``DX`l?{ 無Ip `?if 2@Ifm];fّCYz}ByzII~<)~;|~AiMb@Mb@Mb@ 9V-?KMb?Y=y^<(AG A )AYAbDVDy:c=%;=ٔ#Q->9Y=`FyQ;E>Q 54?Q 94)8OBY>Q E;y?Q I?S}CI;i(;#4yɮ6ADNOT Ignoring new targets: 48.68 m.hh *h "h  h g fff-BdddjdZd`K@BqBqBuIBuf}BBqBqBqBú;Bu7EBBBBBC;5ԩZ>Z>ZzƳ@Z? Z}Bɢ * ;)  (}=i)ࢥ9iII!9@ @@/@^AmIIOM> 1 aC, ?A2cB@27!@2;ٱ2*: :AHRS rotation from veh to nav: [[-0.812387,-0.582355,-0.029831],[0.583104,-0.811664,-0.034516],[-0.004112,-0.045435,0.998959]]2H@@ɨ?&p>Cx?i2cB@I2S];2ܑCYB}ByBIbDJVDJyRG?<%V]=ٔV8Q-V>9TYX=Z`FyXZ0;EZ>\Q 5b4^W?Q 9f4^`)^?OBYdyf?Q If?^a}CI^:i^:^T*4yhɮj$AlEr  ErEr+Ep"ErD;*Er:VEr [4ZEpBErњIQIq 9@  @ @ @ ^AA4=Ap;9A4AI!I1O=r>i xCI,&?A 2=@23!@2J;ٱ2+I >AHRS rotation from veh to nav: [[-0.812225,-0.582406,-0.033069],[0.583320,-0.811404,-0.036903],[-0.005340,-0.049263,0.998772]]2H@`g?@䢿u9?i2=@I2(];2ڑCYF}ByFIi Mb@Mb@Mb@     9 Q?)\({Gz?Y =y GὙ #< ?A  A -A)  Y AbD%VD% y5g%5B=ٔ=u>;Q-=>9E?YE?=E`FyEDEu'EE>IQ 5U4M$?Q 9U4M)MEOBY]'>Q E];y]?Q I]?Mr}CIM ;iMe ;M14yeuBɮm6AmEB*** querying acoustic contact ***i iDNOT Ignoring new targets: 48.68 m.hh1*h1"h1 h1g9f9f9f=4BdAdAdAjdAZdE`+L@w}Bɢ<;;) =i ) 9)IiMj T;*EL:VEg4ZEa@a@a@a@9@ @@@@=@)>e%=eC=u2Acoustic response timeoutuQuerying Benthos address 50 with one ping in standard two-way mode.ԙ^ABqBqBuIBu}BBqBqBqBu;Buv7EA2AII O > >+P,_@?A6/@6%!@6$D;ٱ6 >AHRS rotation from veh to nav: [[-0.811715,-0.582502,-0.042531],[0.584010,-0.810388,-0.046950],[-0.007119,-0.062948,0.997991]]6H@ܣ ƥ@5?@ `t(}`d?i6/@I61];6ܑCYF}ByFI HJAPbDVVDVk1yZ<%ZS=ٔ^o;Q-^>9b?Yb?=b`FybDbEf>dQ 5j4f ?Q 9n4f)fLOBYlyn?Q In?f}CIf;if;f|84ypɮvAtDNOT Ignoring new targets: 48.68 m.hh*h"h hgfff!d!d!d!jd!Zd-@ZL@U}BɢU8<;)Q U =iY)]h+9YYi]D% BDAT read: Tx time:04:07:00.1311 $Ping request sent.D=DR=E9 ERE/E"Eso;*E;VEJ4ZEBE9Y=`FyDޓ:E%>!Q 5-4%?Q 954%B)%SOBY1y5!?Q I5?%}CI%9:i%:%?4yAɮE4AAmDNOT Ignoring new targets: 48.68 m.hihi*hi"hi hqgqfqfyfydydydyjdZdL@颭}BɢRD:)  ],x?ABBB IB }BB =BBB ;B d7E>I@>=?!@>I<ٱ>C JAHRS rotation from veh to nav: [[-0.812624,-0.579796,-0.058978],[0.582730,-0.809807,-0.068111],[-0.008270,-0.089717,0.995933]]>H@V2`? `o ?i>I@I>uZ];>ۑCYR}ByRIi}Mb@Mb@Mb@yyyy y9}V-?V-y}}t9?Y?=`FyDx;E>Q 54?Q 94)\OBY;>Q E;y?Q I?}CIG;i ;KH4yɮVA%DNOT Ignoring new targets: 48.68 m.h!h!*h!"h! h)g)f)f)f-+Bd1d1d1jd1Zd=@7L@e}Bɢe4)i m荼ii)m/9iiimD zD @AE ' E 3E )E "E _;*E t ;VE FA4ZE BE 9u??Yu??=u`FyuD}-;E}>Q 548?Q 94+)dOBYy?Q I?}CI :i:.O4yqBɮOA%DNOT Ignoring new targets: 48.68 m.h)h)*h)"h) h)g)f)f1f1d1d9d9jd9Zd=M@颍}Bɢ) i)9顑i\yu ׽uuAuA uCA)uAqYuAbDVDN2y4%G=ٔ4Q->9?Y?=`FyD:E>E= E'E+E"Es;*E";VE [4ZEa@a@a@a@Q 54뛊?Q 94)fOBYa>Q Ep;y@Q I?}CI;i;~V4y ɮ A DNOT Ignoring new targets: 48.68 m.hh*h"h hgfffHBdddjdZd 9M@i颕}Bɢ) `i)m9顡i;AA IQ Ia Om >  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014808msq,?A2a@2W!@2b;ٱ2 :AHRS rotation from veh to nav: [[-0.813498,-0.579742,-0.046051],[0.581533,-0.811766,-0.053430],[-0.006407,-0.070246,0.997509]]2H,?@?@;[>z`?i2a@I2_S];2ݑCYBt}ByBIbDHVDHPyV%V[=ٔVQ-V>9XYX=Z`FyZD^\ 8E^>`Q 5f4b蛊?Q 9f4b)bgOBYdyf@Q If?b}CIb:ib:b\4ylɮnAleDNOT Ignoring new targets: 48.68 m.haha*ha"hy hygyfyffdddjdZdgM@=}BɢEI ڻ)A EiA)EV'}9AAiM#! w,?A6_@6U!@6Ӹ;ٱ6) JAHRS rotation from veh to nav: [[-0.813416,-0.580035,-0.043745],[0.581655,-0.811804,-0.051500],[-0.005640,-0.067335,0.997715]]6H`e ?K(^`ow<G?i6_@I6gG];6ܑCYRi}ByRI TVAbDZVDZ1yb%fH=ٔfMQ-f>9j?Yj?=j`FyjDnPEr> Q 5-4 r囊?Q 954 ) iOBYAyE@Q IM? ~CI q;i M< d4yɮAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.520892DNOT Ignoring new targets: 48.68 m.hh*h"h hgff f d d1d1jd1Zd5@ޡM@颅}Bɢ5) i) 9顉iQE- E0E-E"Ed;*E;VEt4ZEa@a@a@a@AI IY I O >m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770803ԁ B% >B! B% IB% }BB% =B! B! B% ];B% 47E},?ABR@B?H!@B7;ٱB0\ JAHRS rotation from veh to nav: [[-0.812963,-0.580539,-0.045445],[0.582296,-0.811095,-0.055281],[-0.004767,-0.071403,0.997436]]BHǓD +?~Ms|G ?iBR@IBO];@Y^Z}By^IiEMb@Mb@Mb@AAAaA A9Eq= ףp?MbI +YEk>yEE94EAExA EA)EAAYEAbDVDNy%>=ٔQ->9Y=`Fy DE>Q 54?Q 94)gOBY~>Q EU;yQ@Q I?~CI ;i ;k4yɮ"AuDNOT Ignoring new targets: 48.68 m.hh*h"h hgfffBdddjdZd`M@-}Bɢ5m-)1 5(i1)5y719i=&UAeAzAAII O >E ? E -E (E "E t;*E K;VE c44ZE BE Y9xYx=z`FyzD~(E~>Q 54|ܛ?Q 9 4t})eOBY y @@Q I ?4~CIN:iF:2r4checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274879y!ɮ%A!uDNOT Ignoring new targets: 48.68 m.hqhy*hy"hy hygyfyffdddjdZdTN@颵~Bɢp) kIi)4项i}–AAI1IIiIDAT read: 04:07:02.6101 LVL= 24816, 17905, 26818, 29523, AGC= 59, IDX= 11, 0.07, 2.070, 2.909, 1.074, 2.503, PHS=-0.332, 0.450,-1.473, RAW= 6.2, 15.9, CAL= 6.3, 19.9, ROT= 143.7, -19.9  Ygot valid direction response: 04:07:02.6101 LVL= 24816, 17905, 26818, 29523, AGC= 59, IDX= 11, 0.07, 2.070, 2.909, 1.074, 2.503, PHS=-0.332, 0.450,-1.473, RAW= 6.2, 15.9, CAL= 6.3, 19.9, ROT= 143.7, -19.9  PDAT read: Bearing 94.5, 32.0 (Local)  ~Local bearing/azimuth received: Bearing 94.5, 32.0 (Local)  DAT read: Range 11 to 50 : 56.1 m (Round-trip 74.9 ms) speed -0.3 m/s  R#Rx 1: Read range and direction messages.- ^direction in FSK: [-0.757805,0.556663,0.340380]- Fpublishing direction and range infoy0X?k-.?"T?Yf`B`Eh Ss);Iiff>Dk=q>z0= ӱ>) @Iӱrɕؿ J߹#쿢L)J? V)I @iӱOM >Y ۊ,-?AB @B_!@B:ٱB JAHRS rotation from veh to nav: [[-0.811194,-0.582596,-0.050458],[0.584774,-0.808441,-0.066809],[-0.001870,-0.083701,0.996489]]BHMթ@w?] <^om@=?iB @IBl];BܑCY^1}By^IIb=)b=iMb@Mb@Mb@ 9S㥛?㥛 QY$>yuVAA AE; E:E+E"EDq;*E$ ;VE [4ZEa@a@a@a@)AYAbDVD0yFc%;=ٔQrQ->9c?Yc?=`FyDE>Q 54C֛?Q 94{)aOBYw>Q E B;y x@Q I ?R~CI:i:y4yɮA1ii\ &?AJih_BRih_Bji@b(g)ED.*N0?@lp3@R0X?k-.?"T?Zi @biӱjƪ.@|IF%3k0@Z}|?)O5šr?2iL:i-tA"i1Hܠ?*iEBipBiO?iiHBiXBi@ addTargetRange:: Added new target pos. range: 56.099998 m, deltaT: 60.256352 s, deltaX: 7.199997 m, approachRate: 0.119489 m/s, rangeRepo size: 4 % Added new target pos. range: 55.851707 m, bearing: 286.611315 deg, lat: 36.779430 deg, lon: -121.859521 deg, deltaT: 60.256352 s, deltaX: 7.168350 m, approachRate: 0.118964 m/s, posRepo size: 4 MDNOT Ignoring new targets: 55.85 m.hIhQ*hQ"hQ hQgYfYfafeBdadadjd L@Zd ̴?~Bɢl) `i)ifDBBIB[}BBBBBX;B-7EBBBBż =Bż =CF4Y@Y @Y@]M0@Yԉ^A 1> A I I O >,H?AJ@J) @Jg޺ٱJѱ RAHRS rotation from veh to nav: [[-0.806486,-0.589144,-0.049908],[0.591251,-0.803362,-0.070936],[0.001698,-0.086717,0.996232]]JHD{ ?`#(L[?3!?iJ@IJm];JّCYZ }ByZIbDfVDf:yjTͽ%jP=ٔn Q-n>9lYp=r`Fyr%Dv9Ev>xQ 5z4zЛ?Q 9~4zx)z^OBY|y~@Q I~?zn~CIz:iz1:z4y ɮ gA 5DNOT Ignoring new targets: 55.85 m.h1h1*h1"h1 h1g9f9f9f9dAdAdAjdAZdM?u~Bɢu)q u抾iy)}E yyi}e<iYaaIaIa5&9E%1 E%#E!E!"E%2h;*E%;VE!ZE!BE%`9,b?A-C@-%9 @-gٱ- uAHRS rotation from veh to nav: [[-0.803221,-0.593609,-0.049638],[0.595671,-0.799919,-0.072840],[0.003533,-0.088075,0.996108]]-H@j?`zl?`?i-C@I-];-ڑCY}ByIYbDVD02y%1=ٔQ->9Y=`Fy.DBE>Q 54@ʛ?Q 94,v)ZOBYy@Q I?~CI;i;4ymBɮhAEDNOT Ignoring new targets: 55.85 m.hh*h"h hgfffdd!d!jd!Zd%ӻ?U/~BɢU)Y ]ꖾiY)]PYYi]4B% >B! B% IB% 3}BB! B! B! B% T;B% )7E Aq I I O >⚞,B}?AB@Bx@BiٱB NAHRS rotation from veh to nav: [[-0.799392,-0.598698,-0.050335],[0.600784,-0.795766,-0.076252],[0.005597,-0.091195,0.995817]]BH@(vũ 9?v>@0v?X ?iB@IB];BۑCYR|ByVI XXi5Mb@Mb@Mb@1111 195S?QI +Y5>y5u59415A 1)5A1Y53AbDMVDMky]%Ǽ%][=ٔ]:Q-]>9aYa=e`Fye5De1Em>qQ 5}4uÛ?Q 9}4us)uYOBY}>Q E},;y}@Q I}?u~CIu:iu:uF4yɮADNOT Ignoring new targets: 55.85 m.hh*h"h hgfffBdddjdZd?A颕=~Bɢ.) i),顙iکE C E E E "E x;*E :VE ZE BE { z,+?A6\@61R@6"ٱ6Ž >AHRS rotation from veh to nav: [[-0.794726,-0.604696,-0.052467],[0.606919,-0.790597,-0.081271],[0.007664,-0.096431,0.995310]]6H fn Yܪ k?`L`,δ=d??i6\@I6];4YF|ByFIbDRVDR:yZ}v%ZW=ٔZQ-Z>9^ ?Y^ ?=^`Fy^=Db֥Eb>dQ 5j4fI?Q 9j4fq)fWOBYhyj@Q Ij?f~CIf:if:f앍4yiɮmAqDNOT Ignoring new targets: 55.85 m.hh*h"h hgfffdddjdZd?J~Bɢۼ) մi)Zi"9 ߤ,ְ?A2@2@2? ٱ2}Խ :AHRS rotation from veh to nav: [[-0.789848,-0.610754,-0.055857],[0.613225,-0.785013,-0.087808],[0.009781,-0.103608,0.994570]]2HnF@L E?z`??i2@I2Y];2ڑCYB|ByBIEP ER:EPEP"EP*ER$ ;VEPZEPaZ@aZ@aZ@aZ@iMb@Mb@Mb@ 9ʡE?&1~jthY>yPDAKA )t AYAbD VD y \<%5=ٔQ->9!Y!=%`Fy%FD-)E->)Q 5=4-@?Q 9=4-n)-ZOBY=ٟ>Q E=*;y=L@Q IE?-~CI- ;i-m ;-ȝ4yMqBɮIMEuDNOT Ignoring new targets: 55.85 m.hqhq*hq"hy hygyfyffWBdddjdZd @颵Y~BɢԼ) 0i)պ项i]x,?A2S@2?I@2|Cٱ23 >AHRS rotation from veh to nav: [[-0.784775,-0.616920,-0.059476],[0.619665,-0.779157,-0.094498],[0.011956,-0.111015,0.993747]]2H`νs`K?1@|?`yk ?i2S@I2Y^;2ܑCYF|ByFIIJ%=)J=bDNVDN!yV<%Vc=ٔZŻQ-Z>9XYX=^`Fy^MD^OE^>`Q 5f4bݮ?Q 9f4bl)b\OBYhyj@Q Ij?b CIb:ib1:b4ynmBɮnAl DNOT Ignoring new targets: 55.85 m.h h *h "h  h g fffdddjdZd@Me~BɢM)I M˻iI)UQQiU A I I) O5 >,?Apjɽ@jc@jtlٱjL %AHRS rotation from veh to nav: [[-0.779049,-0.623819,-0.062706],[0.626796,-0.772632,-0.100829],[0.014450,-0.117855,0.992926]]jHS@ ?@f`Ϲ ?`+ ?ijɽ@Ij];jّCY]|ByeIbDVDk1y%u9=ٔQ->9Y=`FyVDE>Q 54?Q 94i)`OBYy2@Q I?/CIp:i74yɮADNOT Ignoring new targets: 55.85 m.hh*h"h! h!g!f!f!f)d)dIdIjdQZdU@u~BɢQ) ̾i)ijԉ A I I O >6c,?A&@f@Gٱ= %AHRS rotation from veh to nav: [[-0.773207,-0.630731,-0.065792],[0.633922,-0.765953,-0.107045],[0.017123,-0.124475,0.992075]]H `.װ@I?Rg? ݿ?i&@IÏ];ؑCYe|BymIiMb@Mb@Mb@ 9sh|??I +Mb?Y>y94<AA -A)Y3AbD VD Ny)<%2=ٔ}ƻQ->9!Y!=%`Fy%_D-E->)Q 554-F?Q 9=4- g)-hOBY=>Q E=;y=@Q I=?-UCI-:i- ;-׳4yIɮMAIuDNOT Ignoring new targets: 55.85 m.hqhq*hq"hq hqgyfyfyfBdddjdZd`3 @颵~Bɢ^) hξi)J+项AiE_ƚ EU /EU (EQ "EU s;*EU Y;VEU c44ZEQ BEU = %=a A I I O >,,.?A2@2!z@2tٱ2 :AHRS rotation from veh to nav: [[-0.766856,-0.638125,-0.068761],[0.641520,-0.758818,-0.112459],[0.019585,-0.130351,0.991274]]2H@kXT?@=Hʼ/?[?i2@I2w];2ۑCYB|ByB{I DDbDNVDNyV5]%V^=ٔVQۻQ-V>9XYX=Z`FyZgD^ܼE^>`Q 5f4b;?Q 9f4bd)bpOBYdyfN@Q If?btCIbd:ib[:bE4ylɮn! AlDNOT Ignoring new targets: 55.85 m.hh*h"h  h g f f fdddjdZd` @~Bɢnx ) ޾i)1Ai#a A I! I9 OU >E ; E ?E -E "E Dq;*E ;VE t4ZE a @a @a @a @G,5?A RC @R@RٱR2 ZAHRS rotation from veh to nav: [[-0.760227,-0.645725,-0.071366],[0.649281,-0.751454,-0.117264],[0.022092,-0.135484,0.990533]]RH@S`ȩE? @c?Wr?iRC @IR[];RّCYb|BybIiUMb@Mb@Mb@QQQQ Q9UMb? ףp= yUQ8Ut=ٔ쾻Q->9Y=`FyoDs¼E>Q 54č?Q 94a)zOBY{>Q E ;y@Q I?CI:i3:4yjBɮAEB9A=<BABABABABABABABE];BE27E}DNOT Ignoring new targets: 55.85 m.hyhy*hy"hy hygyfffBdddjdZdUR@~Bɢ}) i)2Zir A I I O >,O?A22 @2'@2ʼٱ2R :AHRS rotation from veh to nav: [[-0.753353,-0.653455,-0.073863],[0.657150,-0.743825,-0.121977],[0.024765,-0.140431,0.989781]]2H@w 貿_?i9\?H?i22 @I2Sk];0XYb|BybIbDj VDj2yrC]<%rU=ٔr7Q-v>9tYt=v`FyvwDz ߼Ez>|Q 54~i?Q 94~^)~OBYy@Q I ?~CI~ ;i~:~~ȍ4yɮAmDNOT Ignoring new targets: 55.85 m.hihi*hi"hi higqfqfyfydddjdZd#@~Bɢ#) Gi)dpiϹ! A ؟AI I9 Oe >6,i?A|-`z @-o@-8߼ٱ- MAHRS rotation from veh to nav: [[-0.745890,-0.661597,-0.077057],[0.665508,-0.735510,-0.126977],[0.027332,-0.145993,0.988908]]-HT+ `K?L@@?¿@"?i-`z @I-W];)Ye|ByeIIm<)mp;i%Mb@Mb@Mb@!!!! !9%|?5^?v/ rh?Y%>y%xi%C<%A%A %A)% A!Y%AbDEVDEβyM<%U4=ٔUMQ-U>9"?Y"?=`FyDüE>Q 54z?Q 94Z)OBY>Q E;y@Q I?CI@:i:Ѝ4yɮA%DNOT Ignoring new targets: 55.85 m.h!h!*h!"h) h)g)f)f)f5Bd1d1d9jd9Zd=@@e~Bɢe )i mii)mхiiimA ?A ?q I I O > ,M?A2 @2K@2ٱ2 :AHRS rotation from veh to nav: [[-0.738238,-0.669749,-0.080250],[0.673863,-0.726932,-0.132205],[0.030208,-0.151677,0.987969]]2H@n KI?@C@?@$jÿ p?i2 @I2:r];2ڑCYB|ByBIbDNVDN:yVv<%Vl=ٔVQ-V?9XYX=Z`FyZDZ E^?`Q 5f4bs?Q 9f4b(X)bOBYdyf/@Q If?b CIb:ib:b|֍4yhɮnAlDNOT Ignoring new targets: 55.85 m.hh*h"h hg f f f dddjdZd@p@y颽~Bɢơ!) :i)iEM5 EM1EM+EI"EMk;*EMf;VEM [4ZEIBEM S,Tn?A2 @2#@2ٱ2º! :AHRS rotation from veh to nav: [[-0.730216,-0.678100,-0.083454],[0.682411,-0.717962,-0.137283],[0.033175,-0.157197,0.987010]]2H]D]N?J?Ŀ?i2 @I2Q];2ۑCYB|ByBIbDJVDJyR%RJ=ٔVQ-V>9TYT=Z`FyZDZEZ>\Q 5b4^j?Q 9b4^T)^OBYdyfs@Q If?^ CI^:i^[:^ݍ4yjfBɮjAnEDNOT Ignoring new targets: 55.85 m.hh*h"h hgf f f d ddjdZd`ݘ@E~BɢE)A EniA)MLLIIiM>IyIO>)E5 3 E5 ,E5 )E1 "E5 j;*E5 ;VE5 FA4ZE1 a= @aE @aE @aE @Y `+,yUqU=ٔQ->9Y=`FyDE>Q 54y`?Q 94P)OBY>Q E:y^@Q I?9CI ;i:4yɮ}AB>BBIB3}BBBBBb;B67E1uDNOT Ignoring new targets: 55.85 m.hqhq*hq"hq hygyfyfyfBdddjdZdFf@~Bɢk) i)}iDAM fAzAM eAI I O >Թ 3,?A2b @2dX@2y!ٱ2k, >AHRS rotation from veh to nav: [[-0.712590,-0.695843,-0.089542],[0.700472,-0.698477,-0.146521],[0.039413,-0.167131,0.985147]]2H@@XD2춿 Ej?Y@0¿-?@dſ`R?i2b @I2g];2ۑCYR|ByRIbD-VD-NyE =%EN=ٔMQ-M>9QYY=]`FyeDedEe>qQ 54uV?Q 94u M)uOBYy@Q I?uQCIu+;iu,;u4ykBɮaAEE: E$E+E"E\p;*E;VE [4ZEBEmIQ Ia Ou >! @,*?A]@]@]\/ٱ]0 }AHRS rotation from veh to nav: [[-0.703378,-0.704784,-0.092404],[0.709526,-0.688317,-0.150973],[0.042800,-0.171754,0.984210]]]H`ȧp?`@Sÿ?ſ`~?i]@I]G^];]ڑCY }ByIiMb@Mb@Mb@ 9 +?Mbyt<~ AA A) AYbD5VD5yE=%E;=ٔE/Q-M>9IYI=U`FyUDU1EU>YQ 5e4] L?Q 9e4]H)]OBYe>Q Em:ym@Q Im?]lCI]3:i] ;]4yuhBɮuA}EDNOT Ignoring new targets: 55.85 m.hh*h"h hgfffMBdQdQdQjdQZd] ۽@5~Bɢ5j)9 =i9)e5Żaaieq A .AI I O >X,?A2<@2֮@2>ٱ2Ci5 :AHRS rotation from veh to nav: [[-0.693944,-0.713747,-0.094910],[0.718521,-0.677919,-0.155414],[0.046585,-0.176043,0.983280]]2H`4`@K ?@ÿ ٧?ƿw?i2<@I2];2בCYB}ByBIIF<)F<bDN VDN2yV-;%V`=ٔV~*Q-V>9Z ?YZ ?=Z`FyZD^E^>`Q 5f4b!C?Q 9f4bD)bPBYdyf @Q If?bCIbB:ib;b4ylɮnAlDNOT Ignoring new targets: 55.85 m.hh*h"h  h g f f fdddjdZdY-@BɢB0)  i);лiI A} ؟AI I IG hA O >= п9= hAY= AX~,n?A:F@:@:LOٱ:_R; BAHRS rotation from veh to nav: [[-0.684679,-0.722181,-0.098333],[0.727087,-0.667418,-0.160927],[0.050589,-0.181680,0.982056]]:H_,`LD?}[@>Ŀ?IAǿl?i:F@I:f];:ّCYJ"}ByJIbDVVDVk1yZ8I=%^J=ٔ^U"Q-b>9b"?Yb"?=b`FyfDf~Ef>hQ 5n4jb9?Q 9n4j@)jPBYpyr @Q Ir?jCIj@;ij;j4ytɮvAtDNOT Ignoring new targets: 55.85 m.hh*h"h hgff!f!d!d!d)jd)Zd-@@U BɢU]&)Y ]siY)]jgܻaaieś@>Iԉ^AAm .AI I O >Em + Em !Ei Ei "Em b;*Em :VEi ZEi au @au @au @au @ ,F9?A2 @2M@24`ٱ2 @ >AHRS rotation from veh to nav: [[-0.674630,-0.731146,-0.101488],[0.736113,-0.656152,-0.166139],[0.054880,-0.186789,0.980866]]2H`eB%'CB%IB%p}BB% =B!B%DB%L;B%7EieMb@Mb@Mb@aaaa a9eK7?y&1~jt?Ye ?ye`eeD9 ?Y ?=`FyDE>Q 54-?Q 94;)-PBY ?Q E:y @Q I?CI:i:4yeBɮyAEDNOT Ignoring new targets: 55.85 m.hh*h"h hgfffBdddjdZd @Bɢ2) di)i%L A= ؟AII IY Oe >,+S?AF4"@F@FX 4?`rſ=P?}ȿ Z?iF4"@IF(];FۑCYVC}ByZI \\bDbVDbyjCv=%jW=lٔn9Q-r>9r"?Yr"?=r`FyrDvEv>xD==D=%=bE(N4jEwX4rES}0EE; EE;EE*EA"EEDq;*EE ;VEE(N4ZEABEE6a A I I O >ھ,m?A9E'@EW@EفٱE9WJ uAHRS rotation from veh to nav: [[-0.652221,-0.750298,-0.107987],[0.755376,-0.631402,-0.175323],[0.063361,-0.195921,0.978571]]EH p ,?`r4pƿs8?ɿ`sP?iE'@IEgm];EבCY}0}ByIiMb@Mb@Mb@ 9m?V-Q?Y?ymu<;#A@ A)AYAbDVD:y-{%%56=ٔ5 Q-5>99Y9==`Fy=D= E=>AQ 5U4ER?Q 9U4E02)E^PBY]j?Q E]:ye @Q Ie?ECIE |;iE{;E4yyɮ}fADNOT Ignoring new targets: 55.85 m.hh*h"h hgfffeBdadidijdiZdmp"@颽/Bɢ() i)iF*Թ A I I O >,!,ن?A:/@:6%@:5ٱ:QO FAHRS rotation from veh to nav: [[-0.640514,-0.759768,-0.111778],[0.764937,-0.618336,-0.180368],[0.067921,-0.201032,0.977227]]:HP\z?@hJǿEc?fɿrE?i:/@I:z];:ۑCYNO}ByNIbDVVDVNy^=%^f=ٔbRQ-b>9`Y`=b`FyfDf.Ef>hQ 5n4j ?Q 9n4j-)juPBYpyr @Q Ir?j CIja;ij;jT4yvgBɮvAvEDNOT Ignoring new targets: 55.85 m.hh*h"h hgff!f!d!d!d)jd)Zd-`*#@U8BɢUc:)Y ]iY)]`aaie] < ',ö?AY~[}By~II<)p<bDVDy%<%%D=ٔ%Q-%>9)Y)=-`Fy-D5E5>1Q 5E45?Q 9E45()5PBYAyAQ IE?5*CI5,:i5:5$4yQɮUAQ}DNOT Ignoring new targets: 55.85 m.hyhy*hy"hy hygfffdddjdZd`#@颽CBɢF)) i)@i9Y=`FyDE>Q 548?Q 94t#)PBY?Q E:yd @Q I?JCI;i;,4yɮA-DNOT Ignoring new targets: 55.85 m.h)h)*h)"h) h)g1f1f1f57Bd9d9d9jd9Zd=`A$@QmNBɢu,)u@< uiq)u|yyi}y^Amƒ>ԩA I I O > n4,k?A24@2@2ٱ2a :AHRS rotation from veh to nav: [[-0.602315,-0.788206,-0.126283],[0.794088,-0.575474,-0.195584],[0.081488,-0.218083,0.972522]]2H*F8*,i?Ijɿgܴ?!˿ ?i24@I2Pp];2בCY^n}BybIbDjVDj1yrY=%r[=ٔrHQ-r>9tYt=v`FyvDvd5Ez>xQ 54zK횊?Q 94z)zPBYyY @Q I?zfCIz;iz;z24y eBɮmAEE%+ E%(E%,E!"E%b;*E%;VE%g4ZE!BE% A I I O% >A ;,X?Ax ?U @goٱYf AHRS rotation from veh to nav: [[-0.588653,-0.797736,-0.130789],[0.803794,-0.560377,-0.199734],[0.086043,-0.222701,0.971082]]H> ?ސɿ?x̿ ?ix ?I];Yk}By%I ))iMb@Mb@Mb@ 9ףp= ?:v?Y?yL<$A@ )xAYQA bDVDy|ϻ%+=ٔQ->9!Y!=%`Fy%D-E->1Q 5=45?Q 9=45)5PBY=_?Q E=:y=@Q I=?5CI5*:i5:5:4yIɮMzAIDNOT Ignoring new targets: 55.85 m.hh*h"h hgfff&BE-/ E-$E-+E)"E-af;*E-;VE- [4ZE)a5@a5@a5@a5@dididqjdqZdu,&@eBɢ%() i)2#iB(CB-IB}BB =BBB#;B6Ea ^A >ԑ A! I1 IA OM >"rB,1B ?A29?26 @2ٱ25k :AHRS rotation from veh to nav: [[-0.574786,-0.807111,-0.134878],[0.813264,-0.545168,-0.203457],[0.090681,-0.226635,0.969749]]2Hd`CA? r ʿ6?@cͿ@/?i29?I2];2ؑCYB}ByBIbDNVDNkyRC=%Rf=ٔVLVQ-V>9TYX=Z`FyZD^AE^>`Q 5b4by֚?Q 9f4b1)bQBYdyft@Q If?bCIb:ib:b*A4ylɮnAlDNOT Ignoring new targets: 55.85 m.hh*h"h hg f f f dddjdZd%`3'@ mBɢ ??) bi)0(iCAIIO>I,<)?A,ò? @výٱn  AHRS rotation from veh to nav: [[-0.560500,-0.816449,-0.138750],[0.822653,-0.529628,-0.206727],[0.095296,-0.230013,0.968510]]H`Y @ -S?vʿVe?qͿ ?iò?It];ڑCYE}ByMIyԑ}@AbDVDyeg =%m=ٔuQ-u>9qYq=}`FyDE>Q 54ƚ?Q 94 )XQBYy^@Q I?؁CIhL;iH;K4yiBɮAwEDNOT Ignoring new targets: 55.85 m.hh*h"h hgf!f!f!d!d)d)jd)Zd-po(@]|Bɢ]sa)Y ]ia)e1aaieJBM 'CBM LIBM '~BBM =BI BI BM ;BM 6E } H< @  @ @ 4@ ^A59>9A=?A9AIIO?9S,ogP?A4<ɰ4<62O?62@6}$ֽٱ6ct >AHRS rotation from veh to nav: [[-0.531482,-0.834460,-0.145617],[0.840615,-0.498398,-0.212050],[0.104371,-0.235109,0.966349]]6H¿Q?߿q$˿? οT?i62O?I6];6ّCYF}ByFI\iMb@Mb@Mb@ 9{Gz?9Y=`FyDԃE>!Q 5-4%츚?Q 9-4%)%QBY5$?Q E5:y5@Q I5?%CI%X ;i% ;%U4y9ɮ=A9eDNOT Ignoring new targets: 55.85 m.hahi*hi"hi higififqfu=BdqdqdyjdyZd}{)@Bɢ")  i ) 9  iaG591Y5SAyX?EA@ @@3@9 ^A 1>i AI!IAO?[,n3q?A|EF?E<@E3߽ٱEv uAHRS rotation from veh to nav: [[-0.516749,-0.843089,-0.148902],[0.849211,-0.482678,-0.214155],[0.108680,-0.237114,0.965384]]EH@5 ;ÿ,?4޿mi˿mһ?`Yο`l?iEF?IE];AY}ByI i Mb@Mb@Mb@     9 uV?Zd;OˡE?Y r(?y j< '= M*A /@ A) bA Y AbD%VD%Ny57o=%5=ٔ= Q-=>99Y9=E`FyE%DEEE>IQ 5U4M?Q 9U4M)MQBY]/)?Q E]:y]@Q I]?M.CIMv:iMj:M)^4yegBɮmAmvEDNOT Ignoring new targets: 55.85 m.hh*h"h hgfffBdddjdZd*@Bɢ: ) ti)OAi<EM< EM>EIEI"EM,r;*EM?;VEIZEIaU@aU@aU@aU@iIIIfA)fA!9@ @@4@@{>@B>BBkIBY~BB =B?DBBԀ;B6EI^A9>y A I I) O5 >#b,^?A:l?:j@:v0ٱ:Fw FAHRS rotation from veh to nav: [[-0.501836,-0.851659,-0.151120],[0.857533,-0.467021,-0.215705],[0.113131,-0.237839,0.964694]]:H @@Wÿ@p?ݿ@;˿&?`qο@?i:l?I:Ǒ];:ۑCYN}ByN!IbDVVDVJy^o=%^g=ٔb-OQ-b>9`Yd=f`Fyf,DfFEf>hQ 5n4j?Q 9n4j)jRBYpyr@Q Ir?jKCIj;ij;jXd4ytɮvAtDNOT Ignoring new targets: 55.85 m.hh*h"h hgf!f!f!d!d)d)jd)Zd- :+@YeBɢex5)i m4޾ii)m8[Fiiim Vh,ͤ?A2DZ?2}N@2ٱ2y :AHRS rotation from veh to nav: [[-0.486642,-0.859794,-0.154704],[0.865689,-0.450833,-0.217561],[0.117312,-0.239800,0.963708]]2H %%߿n@[ÿ`?pܿ@˿!?űο?i2DZ?I2 ];2ؑCYn}Byr&IbDzVDzyE<%F=ٔ'Q->9 Y = `Fy 5D H,E>Q 5%4?Q 9%4n)9RBY!y%@Q I%?mCIz;iv;k4y5oBɮ5A5mE]DNOT Ignoring new targets: 55.85 m.hYhY*hY"hY hagafafafadididijdiZdu@A ,@额Bɢb.) a߾i)b=L顡iB &CB IB ~BB =B B DB ;B 6En,v?Ay?2@'ٱ} AHRS rotation from veh to nav: [[-0.471312,-0.867324,-0.160041],[0.873577,-0.434110,-0.220025],[0.121358,-0.243509,0.962276]]H)޿:|Ŀ X?vۿ)̿@M?L+Ͽ?iy?I];בCY~By=IiMb@Mb@Mb@ 9@5^I ?J +I +?Yb0?yH94=~&A@ lA)dAY\AbDVD0y=%/=ٔQ->9Y=aFy>DE> Q 54 A?Q 94 ) {RBY01?Q E:y@Q I? CI ;i z: s4y%mBɮ%1A-lEUDNOT Ignoring new targets: 55.85 m.hQhQ*hQ"hQ hQgYfYfYf]XBdadadajdaZde`,@颕BɢD!) Ҿi)R顙i6IIAyM &iU 0> @  @ @ 4@ @ @ ԙ D} <D} <E . E %E ,E "E ye;*E ;VE g4ZE BE 9hYh=jaFyjHDnEn>pQ 5v4r?Q 9v4r()rRBYxyzH?Q Iz?rCIr2;ir`;r |4y|ɮ~A|IUDNOT Ignoring new targets: 55.85 m.hQhQ*hQ"hQ hQgYfYfYfYdadadajdaZdmE-@颕Bɢ) ;i)mX顙iT΄IIrg:u9@y @y@}/@yy^Au(>IԩIO> E5 A E5 9E1 E1 "E5 v;*E5 ;VE1 ZE1 a= @a= @a= @a= @k%~,TU?A6?6@6nٱ6 m >AHRS rotation from veh to nav: [[-0.440211,-0.881991,-0.168245],[0.888443,-0.400747,-0.223767],[0.129937,-0.247981,0.960011]]6Hl,ܿD9ſ`n?ԥٿi̿ǡ?ؽϿi?i6?I6];6ڑCYf*~ByfNIB>BBIB~BBBBB;Bk6EBBBB =B =C5iMb@Mb@Mb@ 9x?Zd;OQ?YK7?yj<\=d+A@ AԹ)AYAbDVD!y2<%;=ٔ#Q->9Y=aFyQD$E>Q 54w?Q 94)RBY7?Q E:yr?Q I?CI ;iC ;4yɮA 5DNOT Ignoring new targets: 55.85 m.h1h1*h"h hgfffBdddjdZd`.@ Bɢ5Y%)1 5'оi1)5^99i=M'IAIAu4=u=- 9@)  @) @- /@) A ^AU \>I I O >݅,?AE.B E.<E.*E,"E.w;*E.1;VE.(N4ZE,BE.a?JoL?J5 ٱJ:@ RAHRS rotation from veh to nav: [[-0.407254,-0.896107,-0.176455],[0.902910,-0.365950,-0.225462],[0.137464,-0.251144,0.958139]]JH uڿƿ?k׿̿n?п ?iJ>a?IJP];J֑CYZ.~ByZQIbDbVDbk1yj7<%j@=ٔnQ-n>9lYp=raFyrYDr7Er>tQ 5z4vn?Q 9z4vl)vIAIAiiuuԡ9@ @@@^ARv>IIO% > G,ms2?ADDl]l?]?]|\ٱ]A AHRS rotation from veh to nav: [[-0.390324,-0.902669,-0.181205],[0.909892,-0.348169,-0.225555],[0.140511,-0.252917,0.957230]]]Hؿ1ǿ ?@eHֿ@̿F?/п`?i]l?I]];]ّCYI~ByaIi%Mb@Mb@Mb@!!!! !9%Gz?~jt~jt?Y%0?y%%=%7)A%@ %lA)%|A!Y%3AbD=VD=yMj=%M5=ٔU޻Q-U>9QYY=]aFy]bD]z'E]>aQ 5m4efe?Q 9u4e)e~SBYu,1?Q Eu:yu?Q Iu?e4CIe ;ie ;e4y}tBɮ}}AbEDNOT Ignoring new targets: 55.85 m.hh*h"h hgfffqBdddjdZd*H0@BɢV')  ˾i)6jiNyIIEm? Em7Em,Ei"Emt;*Em ;VEmg4ZEiau@au@au@au@B]<A]<Be>BaBeIBeBBe =BaBaBe;BeP6E@ @@/@^Au*e>IIOi>)Y p,:L?A6?6?6Fٱ6w >AHRS rotation from veh to nav: [[-0.373175,-0.909118,-0.185056],[0.916623,-0.330471,-0.224927],[0.143329,-0.253563,0.956641]]6H@׿}ǿT?@n&տf̿X?@a:пΜ?i6?I6];6בCYFR~ByFgIbDRVDRyV<%Zj=ٔZmQ-Z>9XY\=^aFy^jD^YEb>`Q 5f4b^?Q 9j4b )bSBYhyjq?Q Ij?bRCIb:ib:b4ylɮrXAp DNOT Ignoring new targets: 55.85 m.h h *h "h  h g fffdddjdZd%0@9MBɢMZ4)Q UʾiQ)UnQQietIiIi@ @@2@@ @ hAiE> E'E&E"Es;*E";VE4ZEBEA=>A=?ԙA I I O > ,f?A2L?28?2ٱ2`„ :AHRS rotation from veh to nav: [[-0.356296,-0.915162,-0.188501],[0.922954,-0.313262,-0.223657],[0.145632,-0.253666,0.956266]]2H`ֿI ȿ`׈?`z Կ̠̿`?<п ?i2L?I2A^;2ّCYB~ByBIID)F=bDNVDN3yV=%VK=ٔV&Q-V>9XYX=ZaFyZrDZ,9E^>Q 54W?Q 9%4)SBY!y%?Q I%?vCI+;i;R4y)ɮ-A1UDNOT Ignoring new targets: 55.85 m.hYhY*hY"hY hYgYfafafadadidijdiZdm 1@ԙ额Bɢ") i)ۦs顡inIIq@q @q@u4@q^Am9[>AIIOew>E ? E TE ,E "E t;*E ;VE g4ZE a @a @a @a @ B} >B} %CB} IB} CBB} =By By B} ;By   %=>,E?Aɰ2?2?2ٱ2) :AHRS rotation from veh to nav: [[-0.339080,-0.921207,-0.190796],[0.929069,-0.296036,-0.221795],[0.147836,-0.252469,0.956245]]2Hzտzlȿ ?Bҿc̿M?r(п?i2?I2];0YB~ByBIi Mb@Mb@Mb@     9 (\?/$X9v?Y z4?y , <  'A z@ A) fA Y fAbD%VD%fy5:;%5B=ٔ= Q->9Y=aFy{D#-E>Q 54O?Q 94)/TBY4?Q E:y?Q I?CIL:i@:ç4yrBɮAaE DNOT Ignoring new targets: 55.85 m.h h *h "h  h g ffftBdddjdZd`x1@MBɢM W$)I MiiQ)UxxQQiUhIYIa!q:Qy@y @y@}O0@^Am ,>Am gAzAm gAy A I I O >0,?AEO E5E(E"E;*E ;VEc44ZEBE?>?>ٱ>a JAHRS rotation from veh to nav: [[-0.322202,-0.926603,-0.193886],[0.934763,-0.279022,-0.219921],[0.149681,-0.252096,0.956056]]>H Կ`?ȿ@?ѿ`b&̿`(?X"п?i>?I>];9dYd=faFyjDjCEj>lQ 5r4nnI?Q 9r4n)ngTBYpyr~?Q Iv?nCInn$;inr;nZ4y-|Bɮ=AEXEUGi9YxAAeDNOT Ignoring new targets: 55.85 m.haha*ha"ha hagafififididqdqjdqZdu 1@Bɢ&) i)%}!!i%b A I IA Om >i,?A\?G?^ٱE AHRS rotation from veh to nav: [[-0.305512,-0.931622,-0.196832],[0.940116,-0.262310,-0.217660],[0.151146,-0.251543,0.955971]]Hӿ@1ɿ`m?пL˿X?GпQ?i\?Ir];֑CY5~By5I 99ԁiMb@Mb@Mb@ 9(\?/$?Y.?y<;#AM@ A)E@Y AbDVDy|=%*=ٔIQ->9 Y = aFy D E >E%? E%1E%*E!"E%t;*E%f;VE%(N4ZE!a-@a-@a-@a-@Q 554A?Q 954)TBY=G.?Q E=:y=?Q I=?CIɨ;iu;¶4yAɮMAIDNOT Ignoring new targets: 55.85 m.hh*h"h hgfff%UBd!d!d!jd)Zd-`Z2@颕Bɢ) 6i) 顙i[BBIBvBBBBBz;B=6EgAgAԹ5  9@  @ @ 2@ ^A 0> A II1OE>L,F ?A88f?f?f2ٱf僾 nAHRS rotation from veh to nav: [[-0.288877,-0.936092,-0.200704],[0.945231,-0.245604,-0.214980],[0.151947,-0.251815,0.955773]]fH|ҿwɿU??oϿ@w˿s?п?if?If];dtYz~ByzIIbDVDy}ټ%%I=ٔ%Q-%>9)Y)=-aFy-D51E5>9Q 5=4=^;?Q 9E4=)=TBYAyEZ?Q IE?= CI=;i=Y;=߽4yQɮU<AQ}DNOT Ignoring new targets: 55.85 m.hyhy*hy"hy hygfffdddjdZd`2@颽 Bɢ+) 붾i9)E4AAiE}kV{;*E= ;VE='4ZE9BE=A>q A! I1 IA OM >=l,g?AB?B?BlٱBgy NAHRS rotation from veh to nav: [[-0.272669,-0.940347,-0.203466],[0.949971,-0.229655,-0.211692],[0.152337,-0.251009,0.955923]]BHgsѿS, ʿ)f?SeͿ˿?п?iB?IB];BבCYZ~ByZIbDjVDjyv=%vO=ٔz!Q-z>9xYY|=]aFyeDu*Eu>yQ 54}w5?Q 94}')}UBYy)?Q I?},CI}:i}:} Ŏ4yɮzADNOT Ignoring new targets: 55.85 m.hh*h"h hgfffdddjdZd%3@Bɢ\) i)܅  i CPB B :IB BB =B B DB E;B 6EA I I! O- > T,_?A2?2?2{ٱ2[0 :AHRS rotation from veh to nav: [[-0.257243,-0.943648,-0.208216],[0.954282,-0.214123,-0.208558],[0.152221,-0.252347,0.955589]]2Hvп]2զʿ@{?@ch˿ʿ{?u&п`.?i2?I2?];2֑CYB~ByBIi Mb@Mb@Mb@     9 /$?MbpI +?Y ,?y  9< #A 7@ A) /@ Y  AbD%VD%y5S=%5F=ٔ5ܔ9Q-5>99Y9==aFy=DE&EE>IQ 5U4M/?Q 9U4M|)MJUBYU ,?ԹQ EU:y?Q I?MNCIMEm H Em ?Em .Ei "Em };*Em ;VEm ـ4ZEi BEm f9hYh=jaFyjDn"En>pQ 5v4r@*?Q 9v4r)r|UBYxyz?Q Iz?roCIr3:ir:rҎ4y~Bɮ~ANE%DNOT Ignoring new targets: 55.85 m.h)h)*h)"h) h)g)f)f1f1d1d1d9jd9Zd= 3@eBɢm")i mii)mHqqiuTD1 `,M9?A2 ?2N?2!ٱ2rG :AHRS rotation from veh to nav: [[-0.228783,-0.949924,-0.212846],[0.961649,-0.186553,-0.201072],[0.151296,-0.250685,0.956173]]2H@HͿ`e`>˿`? ǿ ɿ]?8 п?i2 ?I2J];2בCYB1ByFIE! E%SE%*E!"E!*E%N;VE%(N4ZE!a-@a-@a-@a-@i]Mb@Mb@Mb@YYYY Y9]uV?y&1|~jt?Y]r(?y]`廙]<]!A]@ ](A)]@YY] AbDuVDu:2y'=%?=ٔ:Q->9Y=aFyDE>Q 54$?Q 94τ)UBY(?Q E:y?Q I?CI@:i:Kڎ4yɮiADNOT Ignoring new targets: 55.85 m.hh*h"h hgfff7BdddjdZdB]4@%Bɢ-dF )) -Mi))-q11i5|=BB_IBBBBBB;B5EB]%CB]%CBYB] =B] =C]À5)ߵ%=ߵ4=@ @@4@Y^A|=ԁ A I I O- >r,)S?A,:ze?:P?:ٱ:i BAHRS rotation from veh to nav: [[-0.216451,-0.952739,-0.213160],[0.964646,-0.175084,-0.196985],[0.150355,-0.248261,0.956953]]:H`˿| H˿a?'iƿ6ɿ`>?Ͽ\?i:ze?I:];:֑CYJ?ByJI)H LL R49`Y`=baFybDf Ef>hQ 5n4jv ?Q 9n4j~)jUBYlyr?Q Ir?jCIj;ij#;j4ytɮv2AtDNOT Ignoring new targets: 55.85 m.hh*h"h hgfffdddjdZd@4@ !Bɢ )  oi )Fi47 Ż,m?AF\?F?F4ٱFW~ VAHRS rotation from veh to nav: [[-0.205228,-0.955724,-0.210888],[0.967297,-0.165253,-0.192427],[0.149057,-0.243483,0.958383]]FHDʿI_ʿ?@'ſ@sȿN?p*Ͽ?iF\?IF];D\YblBybIbDj VDj:2yr=%rH=ٔv-R;Q-v>9tYt=vaFyvDzqEz>|Q 54~?Q 94~w)~VBY y g?Q I ?~ԄCI~F:i~:~4yBɮ|A=DNOT Ignoring new targets: 55.85 m.hAhA*hA"hA hAgAfAfIfIdIdIdQjdQZdU&5@}$Bɢ}))}U& }\i)v顁i1E=V E=BE=-E9"E=;*E=Z;VE=t4ZE9aE@aE@aE@aE@AIIO>B>B$CBIBBBBBB;B5EA F,^چ?A63?6d{?6lٱ6w >AHRS rotation from veh to nav: [[-0.195130,-0.958800,-0.206460],[0.969607,-0.156905,-0.187733],[0.147604,-0.236818,0.960276]]6H`ȿ@~Imʿ?@tĿȿ? Pο@?i63?I6];6בCY^Byb0IiMMb@Mb@Mb@IIII I9Mv/?Mb?YMx)?yMM9yYy=}aFy}D^˼E>Q 540?Q 94p)@VBY)?Q E:y;?Q I?CI ;i~ ;l4yɮADNOT Ignoring new targets: 55.85 m.hh*h"h hgfff=BdddjdZd5@颍)Bɢ*) 8i)顱i2*{;*Em ;VEm [4ZEi BEm N,?A2r?26]?2ٱ2΂p :AHRS rotation from veh to nav: [[-0.186699,-0.961482,-0.201733],[0.971501,-0.150164,-0.183402],[0.146044,-0.230225,0.962116]]2Hǿ@u gɿ?8ÿ yǿ?xͿ?i2r?I2 ];2֑CB=B%=YFByFDIIJ<)J;bDRVDRk2yZ0=%ZW=ٔZ;Q-Z>9\Y\=aFyD&E>!Q 5-4%?Q 9-4%j)%mVBY)y-?Q I5?%CI%[:i%R:%@4y=Bɮ=A=DEeDNOT Ignoring new targets: 55.85 m.haha*hi"hi higififqfqdqdqdqyjdyZd`5@颭,Bɢ|J) ai)顱i2#% k,?A*4<ɰ*49Y=aFyDĎE>Q 54?Q 94b)VBYW+?Q E:y?Q I?EBC EBHE@E@"EBx;*EB;VE@ZE@BEB{9Y=aFyDIE>Q 54U ?Q 94Y)VBYy>?Q I?hCI:i:4yɮ KA 5DNOT Ignoring new targets: 55.85 m.h1h1*h1"h1 h1g9f9f9f9dAdAdAjdAZdE%6@u5BɢupX)q u\iy)}Tyyi}EKQ ,?A2p?2?2Kٱ26[ :AHRS rotation from veh to nav: [[-0.169030,-0.967921,-0.185896],[0.975553,-0.137427,-0.171494],[0.140445,-0.210339,0.967488]]2H ʢſ5rǿ 7?1ſ? fʿ?i2p?I2п];2ӑCYB#ByBIbDJVDJ1yR>%Va=ٔV;Q-V>9XYX=ZaFyZDZDEZ>\Q 5b4^?Q 9f4^S)^WBYdyf?Q If?^CI^1:i^:^< 4yhɮngAlDNOT Ignoring new targets: 55.85 m.hh*h!"h! h!g)f)f)f)d1d1d1jd1Zd5[H7@e8Bɢec)a m*ii)miiimxBBIBgBBBBB6;BW5EaI)))9@ @@@@@gAԑԹ ^A ;A A A)I9IIOU>,?A2?2Ԟ?2 ٱ2fS >AHRS rotation from veh to nav: [[-0.166023,-0.969581,-0.179856],[0.976394,-0.136073,-0.167746],[0.138170,-0.203460,0.969285]]2H;@ſǿ>?jxſ@? ʿa?i2?I2];2בCYFBByFIHiMb@Mb@Mb@ 9V-?~jtx?Yh1?yĻ<$AM@ A)@YAbD5VD502y=?>%E'=ٔE;Q-E>9IYI=MaFyMDUһEU>YQ 5e4]?Q 9e4]J)]EWBYe1?Q Ee:ye{?Q Ie?]CI]':i]:]4yBɮ-A-:EuDNOT Ignoring new targets: 55.85 m.hqhq*hq"hq hqgqfyfyf}BdyddjdZd7@ 9 ,-?AY=\By=IIE%=)E=bDMVDMy]N=%]I=ٔeQ-e>9aYa=maFymDmEm>qQ 5}4u3?Q 9}4uC)uwWBYyQ I?uՅCIug:iu1:u4yɮADNOT Ignoring new targets: 55.85 m.hQhQ*hQ"hY hYgYfYfafadadiiߑIߑdjdZd`i48@@Bɢd)  b=i))-)1i5BB-IBBB =BBB~;B25E^A vтԁ A] .AIi Iy O >v,-]G?A2E.?2u?2qٱ2D :AHRS rotation from veh to nav: [[-0.162186,-0.972458,-0.167396],[0.977895,-0.135711,-0.159069],[0.131970,-0.189495,0.972973]]2H Ŀ `=mſJ?^`^\Ŀ@g?\Aȿ`"?i2E.?I2];0YBtByFIiMMb@Mb@Mb@IIII I9MzG?Mb`Mb?YYM 7?yMM=MVAI M A)M@IYMAbDmVDm!3y}==%}H=ٔ~{9 ?Y ?=aFy D#E>Q 54?Q 94J<)WBY97?Q E:y?Q I?CI;i: ;$4yɮ>ADNOT Ignoring new targets: 55.85 m.hh*h"h hgf f f Bd ddjdZd@W8@CBɢp5) @=i)}i;i8S<IIԉ9@ @@1@@=@=Ա^A#2E ; E ;E (E "E Dq;*E ;VE c44ZE BE 6,i8a?A;ɰ2?2?2#ٱ2? :AHRS rotation from veh to nav: [[-0.161492,-0.973338,-0.162890],[0.978467,-0.136422,-0.154890],[0.128539,-0.184396,0.974411]]2HȫĿ%@Ŀ`O?@Ivqÿs?Hǿ_.?i2?I2];2ӑCYFByF$IbDNVDNyVR$>%VY=ٔVr9Z"?YZ"?=ZaFyZD^GE^>`Q 5f4bS?Q 9f4bf5)bWBYdyf?Q If?bCIb :ib:b*4ylɮnFAlMDNOT Ignoring new targets: 55.85 m.hIhI*hI"hI hIgIfIfQfQdQdQdyjdyZd}8@FBɢbܻ) >i)ԓi ;i < II9@ @@4@^AAIIOn>9 ,{?AE< E6E*E"E,r;*E ;VE(N4ZEa@a@a@a@YBy3I Bu>BqBulIBùBBu =BqBqBu~;Bu5EB=$CB=$CB9B= =B= =C=-95iMb@Mb@Mb@ 9Gz?X9v?Yp=?y<A?@  A)@Y@ ;bDmVDmy}C=%}$=ٔ}Q->9Y=aFyDE>Q 54 ?Q 94+)XBY=?Q E:y?Q I?KCI:ij:f34yBɮEA0EDNOT Ignoring new targets: 55.85 m.hh*h"h hgfffBdd!d!jd!Zd-v9@UIBɢUn)Q U*>iY)]r@YYi];iaeX%,c?AY By ZIbDVDky-=>%-t=ٔ1Q-=?9M ?YU ?=UaFy]$DaEe?iQ 5u4m왊?Q 9u4m%)mGXBYqyqQ I}?mjCIm:im:m894yBɮ?A DNOT Ignoring new targets: 55.85 m.h h *h"h hgfffddd!jd!Zd%`9@9ULBɢU)Q Ud>iY)m!iiim;iqua g7+, ?A:e&?:?:Xٱ:r+ FAHRS rotation from veh to nav: [[-0.162237,-0.975982,-0.145392],[0.979664,-0.141685,-0.142068],[0.118056,-0.165484,0.979121]]:H.Ŀ=;6¿hY?"¿ K/¿@8?.ſ`T?i:e&?I:];:֑CYJ̀ByNlIbDVVDV1y^E=%^T=ٔb9`Yd=faFyf+Df:Ef>hQ 5r4j虊?Q 9v4jU)juXBYtyv?Q Iz?jCIj;ij";j?4y ɮ A}DNOT Ignoring new targets: 55.85 m.hh*h"h hgfffdddjdZd {1:@OBɢ9) |>i)Xk顙ii;i(<}IIԱM9@I @I@M/@IE= E>E+E"Es;*E?;VE [4ZEa@a@a@a@^Auܪ&B}>ByB}IB}BB} =ByByB}]~;B}4E A ؟AI I O >9 f2,.?AYrByrIiMb@Mb@Mb@ 9~jt?Mb`9"?Y"?=aFy4DE>Q 54㙊?Q 94)XBYD?Q E:y?Q I?CI%;i` ;G4yɮADNOT Ignoring new targets: 55.85 m.hh*h"h hgff!f%Bd!d!d!jd)Zd-:@RBɢ]';) C>i){iP5;i<HII @ @@@9^AAzAfAi E J E &E E "E ~;*E ;VE ZE BE YI8,?A 2j?2V?2Fٱ2" >AHRS rotation from veh to nav: [[-0.164422,-0.976790,-0.137282],[0.980153,-0.146166,-0.133922],[0.110747,-0.156577,0.981437]]2H@ ſ`Av`j]?¿X$Y? Ŀg?i2j?I2];2ՑCYFByFIbDNVDNyV#=%V]=ٔZ)9XYX=ZaFyZdQ 5j4fߙ?Q 9j4fv)fXBYhyn?Q In?f܆CIf$:if;fM4yrBɮr Ar&EuDNOT Ignoring new targets: 55.85 m.hqhy*hy"hy hygyfffdddjdZd`:@TBɢr;) s>i)Ryik;i<t5III)i@ @@(0@@@=ԙ^AiqIuA A I I! O- >+w>,6?ALEMS EMKEM)EI"EM;*EM;VEMFA4ZEIa@a@a@a@B >B B IB 3BB  =B B B 1~;B 4E=?=?= Խٱ= I MAHRS rotation from veh to nav: [[-0.167086,-0.976718,-0.134549],[0.980467,-0.150242,-0.126934],[0.103763,-0.153130,0.982743]]=H@cſFA`8 _?`;ÿ[?>?ÿ@r?i=?I=];=ԑCY]By]IiMb@Mb@Mb@ 9K7A`?~jthy&1?YK?yD`<bA@ A)Y@bDVDyl=%#=ٔe9Y=aFyFDc;E>Q 54/ڙ?Q 94I)YBY"K?Q E:y?Q I?CI:i:V4yɮ ADNOT Ignoring new targets: 55.85 m.hh*h"h hg f f f BdddjdZd]|;@EWBɢEJ;)A M>iI)M6IIiMG;iQUsE,p(?ATYvByzI ||bDVDyw=%v=ٔQ-?9!Y!=%aFy%MD-E-?1Q 5=45t֙?Q 9=45)59YBY9y9Q I=?50CI5:i5:5\4yIɮM AIuDNOT Ignoring new targets: 55.85 m.hqhq*hq"hq hqgyfyfyfydddjdZd;@mZBɢmx>O<)i m,>ii)u\qqiu{;iy}K< mƻI:GIliAEj9MliAYMhAER EGE+E"E;*E;VE [4ZEBE<A >1 Aa Iq I O >FK,0?A~K.?~z?~'Ƚٱ~,7 AHRS rotation from veh to nav: [[-0.170496,-0.976961,-0.128368],[0.980482,-0.155262,-0.120621],[0.097911,-0.146428,0.984364]]~HſCC@`n@`? ÿ᾿?)¿?i~K.?I~];~ՑCY-)By-IbDEVDEk1yMK=%UH=ٔUk9YYY=]aFy]UD]E<Ee>aQ 5m4eљ?Q 9u4e1)eeYBYqyuI?Q Iu?eYCIer;ie;ec4yɮH ADNOT Ignoring new targets: 55.85 m.hh*h"h hgfffdddjdZd@9<@\BɢjR<) 2>i)9Ԁ顑iD;i|<N.EIIV>i!>A9@ @@4@@@PExceeded connect timeout, disconnecting.E5U E5BE1E1"E5l;*E5Z;VE1ZE1aM@a]@a]@a]@yBA<B>B#CB!IB`BB =BBDB~;B4E^A3ԙ A I I O >R,!J?AFT?F??FpýٱF5{ NAHRS rotation from veh to nav: [[-0.171692,-0.977174,-0.125112],[0.980532,-0.157220,-0.117639],[0.095284,-0.142874,0.985144]]FH@ſ E@``?@Ŀ@`d? I¿K?iFT?IF];DYV:ByVIiuMb@Mb@Mb@qqqqy q9uCl?Mbp/$?YuO?yuu9Y=aFy^DI:;E>Q 54̙?Q 94)YBYO?Q E:y?Q I?CIa:i':j4yBɮ AEDNOT Ignoring new targets: 55.85 m.hh*h"h hgfffBd d d jd Zd h<@=^BɢEf<)A E>iA)E{IIit;i/<IIԩ9@ @@/@^A 0:DbEəT4jEL4rEn/E- J E- GE- 'E) "E- ~;*E- ;VE- '4ZE) BE- X,id?AYEByII R=) C=bDVDyml=%mN=ٔmQ-u>9u ?Yu ?=uaFyufD}E}>Q 54Uș?Q 94@)YBYyQ I?CI:i:q4yɮ ADNOT Ignoring new targets: 55.85 m.hh*h"h hgfffdddjdZd G =@ aBɢ <)  >i ) vi{];i<X*II!9@ @@@^ANJκ1A% ؟AI) I9 OM >Y ^,!u~?ABnManaging dock network, ignoring radio surface power offEzX EzcEz,Ex"EzɅ;*Ez";VEzg4ZExa @a @a@a@Bu>Bu!CBuGIBuBBu =BqBuDBu};Bu4EQuU?u|?uٱuZ AHRS rotation from veh to nav: [[-0.173586,-0.977074,-0.123263],[0.980681,-0.160036,-0.112488],[0.090182,-0.140408,0.985978]]uH8ƿ 1D1a?|Ŀ˼ .? !?iuU?Iu];uԑCYIByIiuMb@Mb@Mb@qqqq q9u&1?y&1|?~jt?YuP?yu`;uD9"?Y"?=aFyoD~;E>Q 54P™?Q 94A)YBYP?Q E:y?Q I?އCI:i ;(z4yɮ ADNOT Ignoring new targets: 55.85 m.hh*h"h hgfff TBd d djdZdj=@=cBɢEg<)A E>>iA)M oIIiM\C;iQU7#e,И?A$ɰ$B?B5?BcٱBx JAHRS rotation from veh to nav: [[-0.174599,-0.976905,-0.123176],[0.980702,-0.161359,-0.110393],[0.087967,-0.140074,0.986226]]BHCYƿB }a? fĿB?` )?iB?IB];@YRXByRIbD^VD^0yb=%f=ٔf;Q-f ?9hYh=jaFyjvDnL;En ?pQ 5v4r??Q 9v4r)rYBYxyz?Q Iz?rCIrB:ir:r4y|ɮ~* A|%DNOT Ignoring new targets: 55.85 m.h)h)*h)"h) h)g)f)f1f1d1d9d9jd9Zd==@eeBɢm<)i m>ii)mjiqiuk0;iy}<}jIyIq9@ @@0@EP ESE(E"E(;*EN;VEc44ZEBE l,?A2R?2?2ٱ2<| >AHRS rotation from veh to nav: [[-0.175628,-0.976565,-0.124401],[0.980707,-0.162538,-0.108608],[0.085843,-0.141075,0.986270]]2H`zƿ @ؿ a? Ŀͻ@?`¿`?i2R?I2];2֑CYFcByF$IbDjVDj1yrX=%rH=ٔvf;Q-v>9tYt=zaFyz~DzP#;Ez>|Q 54~ ?Q 94~)~ZBY y ?Q I ?~)CI~1:i~(:~݆4yɒBɮ. AEEDNOT Ignoring new targets: 55.85 m.hAhA*hA"hA hAgAfIfIfIdIdIdQjdQZdU`C=>@}gBɢ*<) >i)܃c顉i#;i^G<9IIM9@I @I@Mr1@IEZ EHEE"E;*E;VEAAB5>B5 CB5fIB5BB5 =B1B5DB5};B5}4EB#CB"CBƔCBB =C#6^A9ZEBE<2E<JEy<:Ey<) A I I O >Q Tr,Ӆ?A2P?2?2#^ٱ2˙ :AHRS rotation from veh to nav: [[-0.176440,-0.976243,-0.125775],[0.980757,-0.163512,-0.106678],[0.083578,-0.142177,0.986306]]2H`ƿa=e[b?`ĿBO^e?2¿ҏ?i2P?I2];2ԑCYBgByB)IiEMb@Mb@Mb@AAAA A9EQ?~jth?Mb?YE\O?yED;E9yYy=}aFy}D}:E>Q 54Գ?Q 944)=ZBY_O?Q E:y?Q I?UCI ;iq ;:4yɮ ADNOT Ignoring new targets: 55.85 m.hh*h"h hgfffBdddjdZdO>@UiBɢU<)Y ]>ia)e}\aiim;iqu<}B:IyII)gA1@ @@f4@@@Y^A9ԁ E R E KE *E "E ;*E ;VE (N4ZE BE <<2E <<JE {<:E {<A I I O% >$y,Z?A02<?2k?2ٱ23 >AHRS rotation from veh to nav: [[-0.177519,-0.975810,-0.127596],[0.980756,-0.164713,-0.104817],[0.081264,-0.143748,0.986272]]2Hƿ9U [b?SſCպʹ?Sf¿?i2<?I2~];0YFoByF3IbDNVDN:yV,=%VX=ٔV;Q-Z>9XYX=ZaFyZD^8;E^>`Q 5f4b?Q 9f4bN)bZZBYdyf?Q Ij?b|CIb:ib[:bؔ4ylɮr ArEDNOT Ignoring new targets: 55.85 m.hh*h"h hgfffd!d!d!jd!Zd%t ?@UkBɢUg<)Q U'?i)VVi:ig[<:IIԉ@ @@4@Թ^A[RS:A .AI I O > ,0?AEN` ENTEN,EL"ENi;*EN;VENg4ZELa^@a^@a^@Br>BpBryIBrBBr =BpBpBr};Brp4Ea^@9O;?~&?9ٱ %AHRS rotation from veh to nav: [[-0.178844,-0.975211,-0.130302],[0.980717,-0.166092,-0.102998],[0.078803,-0.146210,0.986110]]H[ƿ4b?}Bſ^k,?@¿6?iO;?I9];Y5rBy57II=<)==iMb@Mb@Mb@ 9MbX?~jth?Mb`YJ?ybA?@ @)@Y@AAbDVDN2yn$<%%=ٔ%;Q-%>9% ?Y- ?=-aFy-D-&;E5>1Q 5=45Ԩ?Q 9E45)5yZBYEJ?Q EE:yE?Q IE?I5CI5:;i5b:;54yUԒBɮU A] EDNOT Ignoring new targets: 55.85 m.hh*h"h hgfff~BdddjdZd?@mBɢ<) U?i)Mi:i#<7;II@ @@4@yԡ ^A ] ;A zA gAA ؟AI I O >,?A2^K?26?2Cٱ2 >AHRS rotation from veh to nav: [[-0.179365,-0.975053,-0.130766],[0.980849,-0.166986,-0.100251],[0.075914,-0.146244,0.986332]]2H@lƿ3 c?@_ſ`o?¿ ?i2^K?I2e];2בCYBByFQIbDNVDN!yV_>%V=ٔV),q5?Aɰ>A?>-?>锽ٱ>` FAHRS rotation from veh to nav: [[-0.179125,-0.974863,-0.132504],[0.981141,-0.167063,-0.097228],[0.072647,-0.147421,0.986402]]>H@ƿ 2e?Rbſ㸿?¿?i>A?I>];>ԑCY^BybUIbDjVDj02yr<%rG=ٔr9tYt=vaFyvDvi9Ez>xQ 54z?Q 94z)zZBYy?Q I?zCIz;iz;z4yɮG ADNOT Ignoring new targets: 55.85 m.hh*h"h hgfffdddqjdqZdu(@@qBɢ<) < ?i)O?iz+:i)5O<5W|0;I1I1I@ @@@B A 4=B!B!B%IB%BB% =B!B!B%};B%y4EEr ErE+E"E;*E*;VE [4ZEBEO<2EO<JE<:Eӥ,LO?A2??2*?2 ٱ2' >AHRS rotation from veh to nav: [[-0.179098,-0.974805,-0.132964],[0.981355,-0.167426,-0.094394],[0.069754,-0.147390,0.986616]]2Hƿ1`@Cg?7nſ6* j۱?¿[?i2??I2,];2ґCYBByF\IyiMb@Mb@Mb@ 9?I +MbPYfF?y94@ @)Y@bDVDJy<%:=ٔ[;Q->9Y=aFyD]E> Q 54 @?Q 94 ) ZBYkF?Q E:yW?Q I? %CI P ;i  ; ;4y!ɮ% A!DNOT Ignoring new targets: 55.85 m.hh*h"h hgfffBdddjdZd `^@@MrBɢU<)Y ]2?iY)].8YYi](9iquAm > A .AI I O >ϙ,'i?A6&?6/?6Nٱ6 BAHRS rotation from veh to nav: [[-0.178364,-0.975243,-0.130718],[0.981703,-0.167376,-0.090797],[0.066670,-0.144521,0.987253]]6H@ƿ05`_j?@lſy>K?@¿?i6&?I6];6ՑCYFByJfIbDRVDR0yZZ/=%Za=ٔZ 9^ ?Y^ ?=^aFybDb Eb>dQ 5j4fZ?Q 9j4fՐ)fZBYhyj=?Q In?fICIf:ifF:f4ypɮr ApDNOT Ignoring new targets: 55.85 m.hh*h"h hgf f f dd1d9jd9Zd= e@@颽sBɢ<) |?i) 1i8i&<Wb:II9@ @@0@ 1^AmjZX;A ؟AI I O >Y B >B CB IB ƁBB =B B DB };B 4ES, ?AEf EiE(E"E";*E%;VEc44ZEBE<2E<JE<:E<1Y5By5{IiMb@Mb@Mb@ 9+?~jtxMb`?Y??yĻ;r@@ M@)@Y@bDVDy=% =ٔQ->9"?Y"?=aFyDE> Q 54 ؑ?Q 94 Q =tI) ZBY??Q E:y?Q I? zCI @;i Y; 4y%ߒBɮ% A%EMDNOT Ignoring new targets: 55.85 m.hIhI*hQ"hQ hQgQfQfYf]~BdYdYdYjdaZde2@@颍uBɢ6W<) P?i)'顑ii<:IIYY@Y @Y@]0@Yԉ^A ] ;Թ Iy I O >p,s?A2?2?20yٱ2y NAHRS rotation from veh to nav: [[-0.175958,-0.975623,-0.131146],[0.982510,-0.165809,-0.084739],[0.060928,-0.143763,0.987735]]2HDžƿM8dp?:9ſ r1?f¿?i2?I2"];2ӑCYVByVIIX)Z=bD^VD^yfp=%f=ٔjH _+,<?A2 ?28?2 nٱ2A >AHRS rotation from veh to nav: [[-0.174261,-0.975869,-0.131577],[0.982974,-0.164488,-0.081895],[0.058276,-0.143608,0.987917]]2H0NƿQ:t? ſ@ L֭?@a¿?i2 ?I2:];2ԑCYFByFIbDNVDN0yV ^=%VM=ٔVq;Q-Z>9XYX=ZaFyZD^VE^>`Q 5f4bZ?Q 9f4b7y)b [BYdyj?Q Ij?bCIb:ib:b͏4ylɮ ADNOT Ignoring new targets: 55.85 m.hh*h"h hgfffdddjdZdj*A@EwBɢE=)A EU#?iA)MIIiMyiiQ<ujII-9@) @)@-"4@)BBBIBځBB =BBDB};Bs4EEd EgE*E"E:;*E$;VE(N4ZEBEW 9 ,i?A&4<ɰ$VOW?V}B?V?cٱVg ^AHRS rotation from veh to nav: [[-0.172286,-0.976000,-0.133197],[0.983481,-0.162811,-0.079109],[0.055524,-0.144626,0.987927]]VHx ƿd;` x?Ŀu@@m?¿?iVOW?IV ^;TYfŁByfIiMb@Mb@Mb@ 9/$?Mb:v?Y9Y=aFyD%*E%>)Q 554-?Q 954-p)-'[BY5q =,?A :/(?:]?:Xٱ: FAHRS rotation from veh to nav: [[-0.170896,-0.975481,-0.138674],[0.983866,-0.161388,-0.077209],[0.052936,-0.149632,0.987324]]:H ſ$7`{?``Ŀó`b?@"'ÿ(?i:/(?I:];:ӑCYR΁ByRI TTbDbVDb:yn4=%na=ٔr@;Q-r>9tYt=vaFyvDz$Ez>qQ 54ux?Q 94uXi)u<[BYy?Q I?u CIuH;iu>J;uc܏4yBɮAEEDNOT Ignoring new targets: 55.85 m.hIhI*hI"hI hIgIfIffdddjdZd ȔA@5zBɢ==)9 E)?iA)E}AAiMxĺqi<ڛII]>i)>E9@A @A@A@A@I@MhAԙ^A- vтI I O >Bq Bq Bu IBu BBq Bq Bq Bu D};Bu B4EB%CB%CB%˓CB% =B% =C%6I5E5 r E5 yE1 E1 "E5 ;*E5 Q.;VE1 ZE1 BE5 O9AYA=EaFyEDMPEM>IQ 5]4M}?Q 9]4MY`)M\[BY]>?Q E]:y]?Q Ie?M8CIM ;iM ;M4yiɮmWAiDNOT Ignoring new targets: 55.85 m.hh*h"h hgfff~BdddjdZd A@U{BɢU=)Q ]1?iY)]YYi]aiae ,F ?A9tYt=vaFyvDzEz>|Q 54~z?Q 94~Y)~r[BYy?Q I?~YCI~d:i~:~4yɮA=DNOT Ignoring new targets: 55.85 m.h9h9*h9"h9 hAgAfAfAfAdIdIdIjdQZdU`A@yɢ}E=)y 9?i)顁iiW<IIEx EhE,E"EL;*E^%;VEg4ZEa%@a%@a%@a%@ 9@  @ @ 0@ ԡ^A`ԻA.AI!I9OMR> >,o :?AB?Bݕ?B.3>ٱB" JAHRS rotation from veh to nav: [[-0.167180,-0.974716,-0.148255],[0.984833,-0.158017,-0.071657],[0.046419,-0.157987,0.986350]]BH +fſ`0¿`?9Ŀ`$X5ħ? 8Ŀ -?iB?IB3];BԑCtYvByvIbDVDy >=%H=ٔ;Q->9 ?Y ?=aFyD%E%>)Q 554-v?Q 954-Q)-[BY1y5?Q I5?-CI-:i-:-4yAɮEAAmDNOT Ignoring new targets: 55.85 m.hihi*hi"hi hqgqfqfqfydydydyjdZd`.B@颭|BɢR8=) o>?i)ZԻ顱iH|i<IIu9@q @q@u_0@q BU>BQBUIBUBBU =BQBUDBU };BU$4EE=k E=lE=)E9"E=f;*E=y';VE=FA4ZE9BE=a %,S?AB)?BW?B7ٱB# JAHRS rotation from veh to nav: [[-0.166696,-0.974690,-0.148971],[0.984987,-0.157735,-0.070150],[0.044877,-0.158428,0.986350]]BHGVſ0xÿ?0Ŀ^?]GĿ@.?iB)?IBc^;@YRByRIIieMb@Mb@Mb@aaaa a9ex&1?Zd;OZd;O?YeA?yejej9"?Y"?=aFyDE>Q 54r?Q 94I)[BYA?Q E:yI?Q I?CI:i:%4yBɮyAEDNOT Ignoring new targets: 55.85 m.hh*h"h hgfffBdddjdZdcB@%}Bɢ%==)) -BC?i))-))i-J/i15V<= I9I9@ @@4@iԑ^AEE~ EEwEAEA"EE;*EED-;VEAZEAaM@aM@aU@aU@A I I! O- > e =e =,m?A;ɰ;J-?J[|?JS2ٱJL" RAHRS rotation from veh to nav: [[-0.166435,-0.974811,-0.148467],[0.985091,-0.157732,-0.068671],[0.043523,-0.157683,0.986530]]JHMſ@1 ÿ@ޅ?0Ŀf H?.Ŀ?iJ-?IJ|];JґCYZ ByZIbDbVDbkyjF'=%jV=ٔn i;Q-n>9lYp=raFyr Drv<Er>tQ 5z4vzo?Q 9z4v B)v[BY|y~??Q I~?v͊CIv;iv7;v4yɮ=A EDNOT Ignoring new targets: 55.85 m.hAhA*hI"hI hIgIfQfYfYdadadijdiZdm`?B@ԙe~Bɢev F=)i mF?ii)miiim"fCiquT<}Q IyIy)@) @)@-4@)^AiBI BI BM  IBM 'BBM =BI BI BM |;BM 3EA I I O >! EU  EU EU 'EQ "EU u;*EU ,?;VEU '4ZEQ BEU 9Y=aFyD9E>Q 54j?Q 94z8)[BYK?Q E:y?Q I?CI ;i ;4yɮADNOT Ignoring new targets: 55.85 m.hh *h "h  h g fffIBdddjdZd B@IɢM)M=)I MyP?iQ)UܓQQiU{XiY]AM ?i I :G  ~9 Y gAI ԙ I O >,?A:M?:z?:*ٱ:n BAHRS rotation from veh to nav: [[-0.166964,-0.975092,-0.146012],[0.985084,-0.158722,-0.066462],[0.041631,-0.154930,0.987048]]:H`_ſ3 ¿`΅?QĿP? ÿ`?i:M?I:%];8YJ"ByJ IbDRVDRN2yZy<%Zq=ٔ^%;Q-?9Y = aFy D :E ?Q 54mg?Q 94K1)[BY!y%'?Q I%? CID;i;4y)ɮ-A1]DNOT Ignoring new targets: 55.85 m.hYhY*hY"hY hYgYfafafadadidijdiZdm B@额Bɢ.fk=)F Q?i)+顡iLji<LXIIE EE,E"E;*E2;VEg4ZEa@a@a@a@qi@i @i@m/@iԡ^A1I1 IA OM > }%,U?A: ?:6?:_p)ٱ:b FAHRS rotation from veh to nav: [[-0.167228,-0.975101,-0.145647],[0.985050,-0.159051,-0.066168],[0.041355,-0.154534,0.987122]]:H gſ4¿?[Ŀa,?ÿ?i: ?I:];:ґCY^)Byb Idf@AbDjVDjβyr@ =%rH=ٔr0:Q-v>9tYt=vaFyv#Dz.:Ez>|Q 54~tc?Q 94~))~\BYy/?Q I ?~HCI~<;i~t:~4yBɮAEDNOT Ignoring new targets: 55.85 m.hh*h"h hgfffdddjdZd@2C@ ɢ [=) T?i)8Ti:qi<%ʞI!I!AABBB4 IB@BB =BBB0|;B3E @  @ @ @ E  E E +E "E ;*E L;VE  [4ZE BE =a2E =aJE =) ,3?A:%?:R?:(ٱ: BAHRS rotation from veh to nav: [[-0.167865,-0.975158,-0.144526],[0.984956,-0.159806,-0.065759],[0.041029,-0.153390,0.987314]]:H|ſ4¿ „?tĿհ`?Kÿ?i:%?I:];:ӑCYJ6ByJ( IiMb@Mb@Mb@ 9&1?y&1I +?YP?y`e94<@f@ @)@YQ@bD5VD5yEz=%ED=ٔMTM:Q-M>9IYI=MaFyU,DU:EU>YQ 5e4]_?Q 9e4]: )]\BYmP?Q Em:ym?Q Im?]tCI]':i]:]L4yqɮ2A=DNOT Ignoring new targets: 55.85 m.h9h9*hA"hA hAgAfAfIfMCBdIdIdIjdqZdu_hC@颹ɢrc=) N[?i)$iiU<cII)@ @@/@@=@=YbEjEmF4rEJ0E- E-E-*E)"E-;*E-?;VE-(N4ZE)a=@a=@a=@a=@^AAzAfAI1 IA OM >ԡ 7, ?A0F ?F8?FA'ٱFN ^AHRS rotation from veh to nav: [[-0.168765,-0.975048,-0.144219],[0.984811,-0.160745,-0.065643],[0.040823,-0.153106,0.987366]]FH ſ3u¿?@NĿ@Ͱ?ÿ?iF ?IF!^;FґCYj:Byj- IbD~VD~1y<%M=ٔ:Q->9)Y)=-aFy-4D5;E5>AQ 5U4EZ?Q 9]4E)E(\BYaye?Q Ie?ECIE;iEw;EM#4yqɮ}ADNOT Ignoring new targets: 55.85 m.hh*h"h hgfffdddjdZd C@eBɢmr=)i mj]?ii)m}iqiuՔi<IIԑԹi@q @q@q@qB >B CB M IB TBB =B B DB {;B 3E E%  E% E% &E! "E% ̧;*E% %f;VE% 4ZE! BE% Z =a5 2E% Z =a5 JE% R,a ?A$ɰ$J?JJ?J $ٱJ  RAHRS rotation from veh to nav: [[-0.169312,-0.975012,-0.143823],[0.984741,-0.161402,-0.065076],[0.040236,-0.152646,0.987462]]JHſL3h¿ ?ԨĿ@ʨԙ?ÿH?iJ?IJۺ^;JёCYZ;ByZ. Ii}Mb@Mb@Mb@yyyy y9}B`"?~jth?y&1|?Y}N?y}D;}`;}@}O@ }l@)}t@yY} @ bDVDyMq;%.=ٔ:Q->9Y=aFy=DW:E>Q 54GU?Q 94 );\BYN?Q E:y?Q I?΋CIv:i:x+4yBɮJAأEDNOT Ignoring new targets: 55.85 m.hh*h!"h! h!g!f)f1f=%Bd9d9d9jd9ZdE`C@q1ɢ5_=)9 =]?i9)=99i=@iAEU,%?A2y ?2?2z"ٱ2 :AHRS rotation from veh to nav: [[-0.170078,-0.975071,-0.142514],[0.984632,-0.162334,-0.064398],[0.039657,-0.151276,0.987696]]2Hſ3=¿? YĿ@\|M?]ÿ4?i2y ?I2_;2ґCD@zDB@AEF EFEF)ED"EF+;*EFpD;VEFFA4ZEDaJ@aJ@aJ@aJ@YN@ByN5 I PPbDZVDZk1ybk<%b\=ٔb:Q-b>9f ?Yf ?=faFyfEDj;Ej>lQ 5r4nP?Q 9r4n8)nJ\BYpyr?Q Iv?nCIn;in;n14yxɮz!AxDNOT Ignoring new targets: 55.85 m.hh*h"h! h!g!f!f!f)d)d)d)jd)Zd5@D@ɢ׼=) Q`?i)2ȹixoi< ƻI I 1111q@q @q@y@yI ^A [RӻA >A >q A ؟AI I O>n,B?A2L?2y?2 ?ٱ2gQ :AHRS rotation from veh to nav: [[-0.170619,-0.975005,-0.142317],[0.984570,-0.163001,-0.063658],[0.038869,-0.150983,0.987772]]2H ſ=3`t7¿@?6Ŀ@K?fSÿԛ?i2L?I2G_;2БCYB=BBDAF4<BJ>BJCBJZ IBJ^BBJ =BHBJDBJf{;BJP3EBQBQBQBU =BU =CUua5yB0 IbD^VD^yfu%j1=ٔj:Q-j>9n"?Yn"?=naFynNDn:En>pQ 5v4r[K?Q 9z4r)r\\BYxyz?Q Iz?r$CIr:ir1:r:4y~Bɮ~EAףE-DNOT Ignoring new targets: 55.85 m.h)h)*h)"h) h)g1f1f1f1d9d9d9jd9Zd=>D@iɢm m=)q u^?iq)u79qqiu iyE EE(E"E;*E?;VEc44ZEBE=a2E=aJEݡA s,$\?A:2?: ?:ٱ:( JAHRS rotation from veh to nav: [[-0.171335,-0.974804,-0.142835],[0.984496,-0.163872,-0.062560],[0.037577,-0.151340,0.987767]]:HQſ1`mH¿?Ŀ`Z=?_ÿ@ʛ?i:2?I:`;:ґCYR7ByR) Ii%Mb@Mb@Mb@!!!! !9%m?{Gzt?Mb`Y%N?y%ף;%%@%"@ %V@)%^@!Y%z@99bDEVDEܲyMܼ%MD=ٔUJ;Q-U>9QYY=]aFy]WD]:Ee>aQ 5m4eUF?Q 9u4e)eg\BYuN?Q Eu:yu?Q Iu?eOCIe':ie3&;eJA4yɮsADNOT Ignoring new targets: 55.85 m.hh*h"h hgfff~BdddjdZdPtD@ɢo}u=) [?1i)uf=:qqiuliy}r<}ުII)@) @)@-4@)E  E E *E "E (;*E N;VE (N4ZE a@a@a@a@a^AUԑA I I O >Թ ,xv?A2QC?2~.?2ٱ2' :AHRS rotation from veh to nav: [[-0.171839,-0.974638,-0.143361],[0.984463,-0.164560,-0.061262],[0.036116,-0.151660,0.987773]]2Hſ;0Y¿?Nſ`]}?@iÿ@՛?i2QC?I2 b;2ӑCYB2ByB# IbDJVDJ4dyRݼ%VV=ٔViz;Q-V>9XYX=ZaFyZ^DZ:EZ>|Q 54~A?Q 94~)~r\BY y ?Q I ?~wCI~:i~=:~H4y BɮAΣEeDNOT Ignoring new targets: 55.85 m.haha*ha"ha hagafififididqdqjdqZdu D@Bɢ}x=) :Y?i ) 1:  i ʻi5<5mI1I9IA)EgAԑ9@ @@/@@@@@B>BB` IBdBB =B@DBB{;B3EE EE-E"EX;*E9@;VEt4ZEBE=a%2E=a%JEQM %=M = #,&U?ANE?N0?N: ٱN 2 ^AHRS rotation from veh to nav: [[-0.171926,-0.974689,-0.142907],[0.984515,-0.164964,-0.059305],[0.034229,-0.150890,0.987958]]NHƿ0`J¿%?ſ+]@w?@`PÿY?iNE?IN*+c;NґCYj>Byj2 IiMb@Mb@Mb@ 9ˡE?MbP?Mb`YG?y:d@ @ @)1@Y=@bDVDkye=%:=ٔɌ;Q->9Y=aFygDJ69E>Q 54I D zD ?AE%  E% E% 2E! "E% ̧;*E% G;VE% 4ZE! a5 @a5 @a5 @a5 @*,`r?A>;?>'?>ٱ>Qw FAHRS rotation from veh to nav: [[-0.171643,-0.974494,-0.144571],[0.984650,-0.164981,-0.056961],[0.031657,-0.152129,0.987854]]>H cſ /L¿A?ſ)L5?@xÿ ?i>;?I>c;>ёCYN9hYh=jaFyjoDnQEn>tQ 5z4vk8?Q 9z4vY)v\BY|y~C?Q I~?vȌCIvmG;ivH;vBV4y ɮ AMDNOT Ignoring new targets: 55.85 m.hIhI*hI"hI hQgQfQfYfYdadadajdiZdm@E@9ɢ==)9 =^?i9)E$lS;AAiEFc߻iIMԙ m0, ?AA A B&>B& CB&Z IB&^BB& =B&?DB&DB&z;B&2EDV!?V ?V3xٱV bAHRS rotation from veh to nav: [[-0.170872,-0.974554,-0.145075],[0.984852,-0.164530,-0.054734],[0.029472,-0.152230,0.987906]]VH"ſ`/ґ¿?Pſ-?F|ÿ ?iV!?IVb;VӑCYf8Byj+ IbDrVDrkyz%zI=ٔz;Q-z>9|Y|=~aFy~wDE> Q 54 3?Q 94 -) \BYy)?Q I? CI :i f; R]4y!ɮ%A!MDNOT Ignoring new targets: 55.85 m.hIhI*hI"hQ hQgQfQfQfYdYdYdajdaZde@AE@颍~Bɢ[9=) ]?i)7~;顑i;iX<ƻIIE EE,E"E;*EA;VEg4ZEBEP =a2EP =aJEA}>ԱAIIOI>  g> ƐC#7,_?A:GFliAPbG{9bliAYfeAlYn:Byn- IiMb@Mb@Mb@ 9?MbP?I +Y@?y94z@ )G@Y@bDVD:y<%>=ٔQ->9Y=aFyDE>Q 54J=,M?AY~;By~. I  AAbDVDy%[;%%U=ٔ!Q-%>9- ?Y- ?=-aFy-D)E5>91Q 5E45+?Q 9E45[)5\BYIyIQ IM?5?CI5),;i5-;5k4yQɮUAQDNOT Ignoring new targets: 55.85 m.hh*h"h hgfffdddjdZd`E@%}Bɢ-*=)) -^?i))-A;)1i5Mi9=;<=ȻI9I99@ @@3@iBE>BABEM IBETBBE =BABABEvz;BE2EԑE EE'E"E;*E=;VE'4ZEBE=a2E=aJE3D,?A>2?>^?>0ٱ> JAHRS rotation from veh to nav: [[-0.168511,-0.974536,-0.147929],[0.985469,-0.163319,-0.046656],[0.021308,-0.153642,0.987897]]>Hđſf/@X¿ ?Ŀ>㧿ѕ? ÿٜ?i>2?I>we;>ґCYR>ByR2 IIVR=)V9]"?Y]"?=]aFy]D]E»Ee>aQ 5m4e'?Q 9u4e)e\BYu;?Q Eu:yu?Q I}?eeCIeK;ie;er4yɮAԙDNOT Ignoring new targets: 55.85 m.hh*h"h hgfffs~BdddjdZd`]E@m|Bɢuc=)y }a?iy)};顁iii< II9@ @@4@iyI}A^ATлI I O >D zD @AbEjEʙT4rE0E  E E -E "E ;*E O;VE t4ZE a @a @a @a @ \J,u+?A:?:?:31ٱ:z FAHRS rotation from veh to nav: [[-0.167807,-0.974650,-0.147982],[0.985642,-0.163029,-0.043938],[0.018699,-0.153231,0.988014]]:HzſT0 ¿ b?!Ŀ@@%?ÿΝ?i:?I:g;:БCYr9!Y)=-aFy-D5%E5>9Q 5M4=)#?Q 9M4=)=\BYQyUm?Q IU?=CI=#;i=*$;=y4yaɮeAaDNOT Ignoring new targets: 55.85 m.hh*h"h hgfffdddjdZdF@{Bɢ=) @`?i)h;ii<2II9@ @@/@^Az!IaIqOY>Qy B= <A= <BE >BA BA BA BA BA BA BE Bz;BE 2EDQ,RE?Aɰp;2J?2v?2ٱ2T1 :AHRS rotation from veh to nav: [[-0.167147,-0.974743,-0.148112],[0.985802,-0.162791,-0.041148],[0.015998,-0.152887,0.988114]]2Heſ@1 T¿ ?SĿZ@a?ʑÿ?i2J?I2j;2ёCYBFByB; IbDJ VDJ2yRG=%VR=ٔVz;Q-V>9TYX=ZaFyZDZEZ>\Q 5b4^`?Q 9f4^)^\BYdyfV?Q If?^CI^N:i^$:^s4yjBɮjAnE}DNOT Ignoring new targets: 55.85 m.hyh*h"h hgfffdddjdZdDF@E EE)E"Ep;*EA;VEFA4ZEBE-=a2E-=aJEAqԩIIO > nW,s,_?A6?6I|?6Sٱ6F >AHRS rotation from veh to nav: [[-0.166577,-0.975129,-0.146204],[0.985944,-0.162776,-0.037672],[0.012936,-0.150424,0.988537]]6H`gRſA4 Ͷ¿ٌ? Ŀ`IA~? Aÿ@?i6?I6l;4YFHByF> I HHiMb@Mb@Mb@ 9(\?~jtMbP?Yz4?yD:7@@ @)1@YQ@bD-VD-ky=8<%=A=ٔE;Q-E>9AYA=MaFyMDMHEM>QQ 54U?Q 94Uʤ)U\BY4?Q E:y[?Q I?UՍCIU]#III)fA@ @@@E EE'E"E(;*Ea9;VE'4ZEa@a@a@a@^AII O >9 ],y?A6Nq?6y\?6q"ٱ6 ' BAHRS rotation from veh to nav: [[-0.165626,-0.975423,-0.145324],[0.986139,-0.162328,-0.034349],[0.009915,-0.148999,0.988788]]6H 93ſ@6¿s?(Ŀ , N?cÿ&?i6Nq?I6-'m;6ґCYFSByJL IbDRVDR:yZ e=%ZT=ٔZ-9\Y\=^aFy^Db$Eb>dQ 5j4f-?Q 9j4f)f\BYhyj;?Q In?fCIf:if:f4ypɮrJAp DNOT Ignoring new targets: 55.85 m.h h *h"h hgfffddd!jd!Zd% F@MyBɢM.ԝ=)Q ULm?iQ)UBBBB =BBB3z;B2EB CB CBB =B =C"59^A &IyIO~>E EE+E"Ȩ;*EGA;VE [4ZEBEZ =a2EZ =aJE:AHRS rotation from veh to nav: [[-0.164486,-0.975550,-0.145760],[0.986355,-0.161644,-0.031211],[0.006887,-0.148905,0.988827]]6H@ ſ 7`G¿ 9?ðĿd5|?`Uÿ`y?i6LK?I6em;6ӑCYZVByZO Ii=Mb@Mb@Mb@9999 99=S?I +Mbp?Y=/=?y=94=;9=@ =@)99Y=\@bDUVDUk2ye6<%e@=ٔe;Q-e>9iYi=maFymDmu2Eu>qQ 54u-?Q 94u)u\BY5=?Q E:yn?Q I?u CIu :iu:u 4yɮ7ADNOT Ignoring new targets: 55.85 m.hh*h"h hgfffd~BdddjdZd F@wBɢy=) o?i)ժ<ii  ڢ<^SCIIq-9@) @)@-0@)ԙ^A0AzA A I I O >E  E E )E "E ;*E pD;VE FA4ZE a @a @a @a @ͫj,¬?AF0?F?Fq}ٱF=W VAHRS rotation from veh to nav: [[-0.163692,-0.975422,-0.147502],[0.986504,-0.161265,-0.028351],[0.003867,-0.150152,0.988655]]FHĿ@6Y¿p?RĿ@7o?08ÿ?iF0?IF*m;FБCYbXBybR IIf<)fp;lbDrVDrfyzY<%zR=ٔz;Q-z>9AYA=EaFyEDMgEM>QQ 5e4Ur?Q 9e4U֍)U\BYiymT?Q Im?UFCIU;iU;U4y#BɮRAEDNOT Ignoring new targets: 55.85 m.hh*h"h hgfffddd jd ZdG@evBɢe0ؙ=)i mq?ii)m+i> %9@) @)@-0@)1^A0:Da Ay I I O >B >B B Z IB ^BB =B B DB %z;B 2Ebq,?A2n?2?2ٱ2 :AHRS rotation from veh to nav: [[-0.162958,-0.975401,-0.148448],[0.986632,-0.160942,-0.025578],[0.001057,-0.150632,0.988589]]2HĿ|6Vÿ ~?ྙĿ`&1@SQ?Gÿ@?i2n?I2 m;0YRkByRi IbDZVDZybκ=%bM=ٔbf;Q-f>9dYd=faFyfDjEj>lQ 5r4n ?Q 9r4n`)n\BYpyv ;w,q?Aɰ;>S?>~?>Y_:ٱ>$6 FAHRS rotation from veh to nav: [[-0.162443,-0.975076,-0.151123],[0.986717,-0.160748,-0.023448],[-0.001430,-0.152924,0.988237]]>HĿ3Wÿ@/?gĿ@kWÿ࢟?i>S?I>am;?y%Ļ%T<% @%@ %t@)!!Y% @ =p<=<bD=VD=JyM1Z<%MB=ٔUH;Q-U>9QYQ=]aFy]D].E]>aQ 5m4e?Q 9m4e3~)e\BYu??Q Eu:yuE?Q Iu?eCIeH:ieQ:e-4yyɮAԙDNOT Ignoring new targets: 55.85 m.hh*h"h hgfff~BdddjdZd{G@msBɢm\1=)q u)}?iq)ħE<顑ie&i<"BaIIM9@Q @Q@UB4@QE EE(E"E^;*E:;VEc44ZEa@a@a@a@^AlXA>A>A I I O >! },O?A2?2?2F|;ٱ2 :AHRS rotation from veh to nav: [[-0.162240,-0.974830,-0.152922],[0.986744,-0.160885,-0.021279],[-0.003860,-0.154347,0.988009]]2HKĿ1ÿg?Ŀ@ʕ#oÿ ŝ?i2?I2l;2ёCYf|Byf~ I hhbDrVDrkyz =%zP=ٔz;Q-~>9|Y|=aFyDE> Q 54 ?Q 94 v) \BYy??Q I? CI ;i Y;  4y!ɮ%GA!MDNOT Ignoring new targets: 55.85 m.hQhQ*hQ"hQ hQgQfQfYfYdYdadajdaZde&G@颕rBɢ=) h?i)5R<顙iv*i <sdIIU9@Q @Q@U/@Q!B>BBl IBnBB =BBB z;B2E^AujbE EE,E"E;*E=;VEg4ZEBEԁ τ,+?A2m?2?2F;ٱ2uu :AHRS rotation from veh to nav: [[-0.162172,-0.974815,-0.153086],[0.986743,-0.161185,-0.018923],[-0.006229,-0.154125,0.988032]]2HĿ1 Qÿe?@Ŀ@~`}y _ÿ?i2m?I2dl;2БCYBByB IiEMb@Mb@Mb@AAAA A9EJ +?y&1|y&1?YEH?yE`廙E`e9iYq=uaFyuDu((Eu>yQ 54}x?Q 94}n)}\BYH?Q E:y"?Q I?}CI}j:i}:}Z4y*BɮAEDNOT Ignoring new targets: 55.85 m.hh*h"h hgfff~BdddjdZdG@pBɢ?=) ?i ) `<  i w.i\<fIIY@ @@/@@=@= G 5Y~91Y5gAԁ^AzlԩA .AI I O >D zD E } E E *E "E ;*E <;VE (N4ZE a @a @a @a @ , .?A:' ?:R?:<ٱ:3* BAHRS rotation from veh to nav: [[-0.162613,-0.974885,-0.152174],[0.986655,-0.161955,-0.016793],[-0.008275,-0.152874,0.988211]]:HĿ A2rzÿ?Ŀ2Daÿl?i:' ?I:*l;:ґCYJByJ IPRBAbDVVDVܲyby=%fU=ٔjT;Q-j>9r ?Yr ?=raFyrDv=:Ez>Q 5 4t?Q 94(f)\BYy0?Q I? CI/];i]^;"4y-,Bɮ-A1DNOT Ignoring new targets: 55.85 m.hh*h"h hgfffdddjdZd`H@颕oBɢ=) ?i)&o<顡i%3iŬ<}`IԱII@I @I@I@I^Am c A I I O >By A} <B >B !CB IB BB =B B B z;B 2E1 H,G?AF#?F/?F&<ٱFsB RAHRS rotation from veh to nav: [[-0.163269,-0.974863,-0.151609],[0.986529,-0.162907,-0.014888],[-0.010185,-0.151998,0.988328]]FH`Ŀ2`gÿ?%Ŀ\}ۄ tÿb?iF#?IFl;FБCYnByn IbDvVDv1y@=%G=ٔy;Q->9 Y = aFy D@:E>Q 5%4:?Q 9%4])\BY!y%E?Q I%?2CI:i:>ǐ4y1ɮ5A1]DNOT Ignoring new targets: 55.85 m.hYhY*hY"hY hagafafafadididijdiZdu@zIH@E EEE"E;*ES8;VEZEBE=a2E=aJE~,!a?A2Q??2|*?2(E<ٱ2E >AHRS rotation from veh to nav: [[-0.164117,-0.974742,-0.151472],[0.986367,-0.164032,-0.013145],[-0.012033,-0.151564,0.988374]]2Hſ 1mcÿ`R?`Ŀ늿 ٤tfÿ ?i2Q??I2>l;0YFByF IiMMb@Mb@Mb@IIII I9MʡE?~jtx?Mb?YMO?yM;M9}"?Y}"?=}aFy}D};E>Q 54G?Q 94U)\BYO?Q E:yK?Q I?^CI ;i2 ;ΐ4yɮADNOT Ignoring new targets: 55.85 m.hh*h"h hgfff~BdddjdZd@&H@ kBɢ v2=) ?i)…<i;i%k<oNIIiA@A @A@EO0@A@MgA@MgADD4=bE jE C4rE .0E EE&E"Es;*E:;VE4ZEa@a@a@a@ԙ^A-lX Ay I I O >4,{?A2If?2tQ?2c<ٱ2# :AHRS rotation from veh to nav: [[-0.165286,-0.974599,-0.151120],[0.986148,-0.165478,-0.011397],[-0.013899,-0.150911,0.988450]]2H`(ſ /Wÿ?`^.ſWw Qÿ@a?i2If?I2m;0YBByB I J49XYX=ZaFyZD^AN;E^>`Q 5f4b?Q 9f4bM)b\BYhyjq?Q Ij?bCIb:ib:b-Ր4yn4BɮrArEDNOT Ignoring new targets: 55.85 m.hh*h"h hgfffdddjdZdرH@iBɢ=) x?i)<i?i<C^?II9@ @@4@B)B)B- IB-BB- =B)B)B-,z;B-2EE EE)E"EU;*E;J;VEFA4ZEBEE =a2EE =aJEz ,퀕?AF?Fȃ?Fǎ<ٱFq NAHRS rotation from veh to nav: [[-0.166796,-0.974977,-0.146969],[0.985863,-0.167320,-0.008876],[-0.015937,-0.146372,0.989101]]FHYſ 3¿/?jſ@-Q@P¿?iF?IFtm;FϑCYVByV Ixi=Mb@Mb@Mb@9999 99=V-?:vI +?Y=hQ?y=T=94<=M@=@ =^@)=@9Y=@bDVD0y<`%9=ٔ;Q->9Y=aFy Dc;E>Q 54ꘊ?Q 94C)YtQ?Q E:y?Q I?CIP;i ;ܐ4y!ɮ%A!MDNOT Ignoring new targets: 55.85 m.hIhQ*hQ"hQ hQgQfQfYf]"BdYdYdajdaZdeH@颍gBɢ=) 9?i)6ɔ<顙i9/DiG-<>,II!a@a @a@e4@aI^A*:y E  E E (E "E ̧;*E L;VE c44ZE a @a @a @a @A .AI I O G,L?Ab?b,?b̒<ٱbC[ nAHRS rotation from veh to nav: [[-0.168216,-0.974984,-0.145294],[0.985588,-0.169026,-0.006838],[-0.017891,-0.144350,0.989365]]bH@ſ3¿?`ſ\|`R@z¿?ib?Ib$ n;`Y~By~ IbDVDy-;%-V=ٔ-ɧ;Q-->95 ?Y5 ?=5aFy5D=@x;E=>AQ 5M4E 昊?Q 9M4E;)E\BYIyM?Q IU?E܏CIEp:iE:E4YyYɮeAaiyIyDNOT Ignoring new targets: 55.85 m.hh*h"h hgfffdddjdZd BI@UeBɢUQt=)Y ] ?iY)]ۺ A! A% @AB- >B) B- IB- BB- =B) B) B- 'z;B- 2EB!CB!CBB =B =C5.,(?A27?2b?2,<ٱ2k :AHRS rotation from veh to nav: [[-0.169628,-0.974534,-0.146663],[0.985304,-0.170737,-0.005092],[-0.020079,-0.145371,0.989173]]2Hbſa/¿@?ſt ¿O?i27?I2Ko;2ΑCYfByj IlnAAbDrVDr1yz%zN=ٔz;Q-~>9~"?Y~"?=aFyDm;E> Q 54 ᘊ?Q 94 (3) \BYy?Q I? CI ;i Q; 4y!ɮ%A!MDNOT Ignoring new targets: 55.85 m.hIhQ*hQ"hQ hQgQfQEe EeEe)Ea"Ee;*EeB;VEeFA4ZEaBEe =am2Ee =auJEeA ?Y,C?A2p?2 ?2A<ٱ2A :AHRS rotation from veh to nav: [[-0.170799,-0.974152,-0.147839],[0.985052,-0.172228,-0.003176],[-0.022368,-0.146172,0.989006]]2H ſ?,g¿?@ ƿnj疿@õ¿?i2p?I2]o;2БCYBByB Ii Mb@Mb@Mb@     9 @5^I ?MbpMb`Y bP?y    @  @ G@) @ Y @bD}VD}1yz%A=ٔG;Q->9Y=aFy$DT9;E>Q 54ܘ?Q 94 *)\BYcP?Q E:y^?Q I?2CI>;iB;4y9Bɮ AE DNOT Ignoring new targets: 55.85 m.h h *h"h hgfff%~Bd!d!d!jd!Zd-ĂI@UaBɢUb=)Y ]?iY)]ԙ @,?A2C?2.?2<ٱ2 :AHRS rotation from veh to nav: [[-0.171911,-0.973972,-0.147734],[0.984811,-0.173624,-0.001321],[-0.024364,-0.145717,0.989026]]2H+ƿ*¿?K9ƿU ަ¿@?i2C?I2p;0Y^Byb IbDjVDjyr4^%rV=ٔr;Q-r>9tYt=vaFyv,DzB;Ez>|Q 54~ؘ?Q 94~(")~\BYy?Q I?~YCI~;i~;~4yɮ A=DNOT Ignoring new targets: 55.85 m.h9h9*h9"hA hAgAfAfAfIdIdIdIjdIZdUI@_Bɢ=) ?i)%B CB IBBB =BBDB4z;B2EԡE} E}E}/Ey"E};*E}7;VE}J4ZEyBE}U n,u?ADɰFp;fc?fN?fy<ٱf rAHRS rotation from veh to nav: [[-0.172867,-0.974199,-0.145096],[0.984589,-0.174879,0.001127],[-0.026472,-0.142665,0.989417]]fH ƿ, ~¿?nbƿwR?B¿M?ifc?Ifq;dYzByz IiMb@Mb@Mb@ 9 rh?~jtMb`YCK?yD7@@ )^@Y\@bDVDy%<=ٔ ;Q-5>91Y1=5aFy55D=;E=>AQ 5M4EӘ?Q 9M4E)E\BYUIK?Q EU:yUX?Q IU?ECIE. ;iET ;Ef4yYɮ]AYDNOT Ignoring new targets: 55.85 m.hh*h"h hgfff~BdddjdZd3I@\Bɢ=) ?i)j<i'XiAo<»IIe9@a @a@e0@a^A`ԻA>A>IIO >! E  E zE *E "E u;*E .;VE (N4ZE a @a @a @a @7,50?AJъ?Ju?JI<ٱJ ^AHRS rotation from veh to nav: [[-0.174029,-0.974047,-0.144728],[0.984329,-0.176317,0.003034],[-0.028473,-0.141932,0.989467]]JHFƿd+@o¿ ?`ƿh?(*¿?iJъ?IJ?Ir;JΑCYf}Byf I hhbDrVDryz^%zY=ٔz;Q-~>9|Y|=aFy Q 54 Ϙ?Q 94 q) \BYy?Q I? CI z;i ; 4y%ԡ B <A <B >B !CB IB BB =B B DB jz;B 2E},KrJ?A9qYy=}aFy}ED}E}>Q 54˘?Q 94)\BYyQ I?֐CI:i:4yABɮAEDNOT Ignoring new targets: 55.85 m.hh*h"h hgfffdddjdZdgPJ@WBɢ Z=)  ΄?i )  <iaS_iv<DEII!ԩ@ @@4@@=@=^AuIQIiOu> 9 9 G hA Gu9 hAY _A E,Kd?AlYreByrb IiMb@Mb@Mb@ 9Fx?y&1|:vYK?y`廙T )@Y@bDVDkyм%A=ٔQ->9Y=aFyMDE>Q 54Ƙ?Q 947)\BYK?Q E:y ?Q I?CI:iL:Y4yɮA%DNOT Ignoring new targets: 55.85 m.h!h!*h)"h) h)g)f)f1f5~Bd1d1d9jd9Zd=J@eTBɢe =)i m?ii)ma G,)&~?A6-?6W?6El =ٱ6d- >AHRS rotation from veh to nav: [[-0.176559,-0.973249,-0.147016],[0.983684,-0.179710,0.008323],[-0.034520,-0.143148,0.989099]]6H~ƿ$`m¿Wz?@ǿv ?R¿ ?i6-?I6=p;4YFXByFR IbDRVDRkyVw%Z^=ٔZ9\Y\=^aFy^UDb;Eb>dQ 5f4f˜?Q 9j4f)fy\BYhyja?Q Ij?f&CIf:if:f4ypɮrFAp5DNOT Ignoring new targets: 55.85 m.h1h1*h1"h1 h19g9fAfAfAdAdIdIjdIZdMqJ@}RBɢ}r+=)y }?iy)#<顁i,fi<W>II@ @@/@iBqBqBus IBusBBu =BqBqBuz;Bu 3E^AUSEe Ee~Ee*Ea"EeX;*Ee0;VEe(N4ZEaBEe=am2Ee=amJEe ,?A% ?%?%",=ٱ% =AHRS rotation from veh to nav: [[-0.177788,-0.972559,-0.150066],[0.983349,-0.181412,0.010701],[-0.037631,-0.145664,0.988618]]%H`ƿ4@Z5ÿw?~8ǿ@R?ZD"¿¢?i% ?I%em;%ϑCYMHByM> IԑiMb@Mb@Mb@ 9'1Z?9 ?Y  ?= aFy ]D9;E>Q 54?Q 94)e\BYB?Q E:y?Q I?SCI :iU:#4yFBɮAEDNOT Ignoring new targets: 55.85 m.hh*h"h hgfffH~BdddjdZdJ@OBɢe#=) v|?i)P<i>dii!%<% I!I)@ @@@@@gA^A ?BIDY zDY bEFA4jErO4rEɭ<0Em  Em Em )Ei "Em ;*Em S8;VEm FA4ZEi a @a @a @a @ AU ؟AIa I O >,+ڱ?AY5By' I )-bD5VD50yMý%MW=ٔMQ-M>9U"?YU"?=UaFyUeD]E]>aQ 5m4e;?Q 9m4eN)eV\BYiyiQ Im?evCIe:ie:e=*4yyɮ}AyDNOT Ignoring new targets: 55.85 m.hh*h"h hgfffdddjdZdK@LBɢ=) {t?i)6;<i@li<LII@ @@/@!^ANJκQA I I! O- >Aq Au AAB} >By B} A IB} JBB} =By By B} +{;B} ;3Ey 4,ȷ?A2?2?2,I=ٱ2 :AHRS rotation from veh to nav: [[-0.178256,-0.972133,-0.152259],[0.983235,-0.182012,0.010984],[-0.038390,-0.147749,0.988280]]2Hƿ :}ÿ v?*Lǿ~?解n¿?i2?I2vl;2БCYB,ByF IbDNVDN:2yfl?%fS=ٔjP;Q-j>9hYh=naFynmDnB:En>pQ 5v4r(?Q 9v4r)rE\BYxyz%?Q Iz?rCIrp:ir:r14y|ɮAE% E%E%(E!"E%;*E%5;VE%c44ZE!BE% C,?A:$?:&?:t =ٱ:H NAHRS rotation from veh to nav: [[-0.178594,-0.971819,-0.153856],[0.983143,-0.182481,0.011410],[-0.039164,-0.149224,0.988027]]:H)ƿ$ÿu?@[ǿ@]?K ÿ?i:$?I:hl;:ϑCY^By^ IiEMb@Mb@Mb@AAAA A9E r?~jth~jtYEC?yEDEE/@E@ A)E@AYE@bD]VD]ܲym΋%mA=ٔm<:Q-u>9u ?Yu ?=uaFyuvD}W:E}>Q 54}?Q 94D)0\BYC?Q E:y?Q I?őCIv:i:o84yɮF AEDNOT Ignoring new targets: 55.85 m.hAhA*hA"hA hIgIfIfIfM&~BdQdqdqjdyZd}5K@ԱFBɢz =) k?i)<i&ri,<IID)D-<E= E=E=+E9"E=1;*E=6;VE= [4ZE9aM@aM@aM@aM@%9@! @!@%0@)@==@== ^AM NJκA ؟AI I O >9 ,zn?A2,?2?2L#=ٱ2W bAHRS rotation from veh to nav: [[-0.178817,-0.971782,-0.153834],[0.983075,-0.182807,0.012077],[-0.039858,-0.149070,0.988023]]2HyƿѰÿYu?6fǿ? 8h@ÿ@?i2,?I2V@l;2͑CYjByjIprBAbDvVDvky~>%~R=ٔ~:Q->9"?Y"?=aFy~D *:E >Q 542?Q 94)\BYy?Q I%?CI;i;BB IB'BB =BBB.{;B?3EBBBBBCÄ59EE EEEE(EA"EEC;*EEa9;VEEc44ZEABEEo=aU2EEo=aUJEEgr ,b?AYByIi}Mb@Mb@Mb@yyyy y9}/$? rh{GzY}9Y=aFyDE>Q 54Ȩ?Q 94) \BY]1 ,#3?ABO?Bx?Bp'/=ٱBIQIQ9@ @@/@^A?BɺIqIO>2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.B >B CB IB BB =B B DB {;B $3E1 J,LL?A(ɰ(J`?J?J4=ٱJj RAHRS rotation from veh to nav: [[-0.176830,-0.972473,-0.151746],[0.983260,-0.181424,0.016869],[-0.043935,-0.146222,0.988276]]JH`\ƿelÿv?8ǿF?@~j¿ ?iJ`?IJj;J͑CYZByZI b;bp;bDbVDbyjc@%jJ=ٔn#@;Q-n>9pYp=raFyrDrCEr>x Q 5-4z?Q 954zu)z[BY9y=?Q I=?z]CIz# =BDAT read: Tx time:04:08:00.3811 =$Ping request sent.EA>IQ Ia Om >ԡ  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249919G,f?AYy%IqiMb@Mb@Mb@ 9Gz? rh{Gz?Y0?y#< ?@)Y@bDVD0y;%;=ٔQ->9Y=aFyDE>Q 54?Q 94)[BY0?Q E:y?Q I?CI:iz:[4yBɮA 5DNOT Ignoring new targets: 55.85 m.h1h1*h1"h1 h1g1f9f9f=}Bd9dAdAjdAZdEL@u5Bɢuv=)y }]?iy)}g=顁iXir<0dII%x>i%>ԡ@ @@/@E EE(E"E;*ED;VEc44ZEa%@a%@a%@a%@5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501962^A _I I O > {. ,€?A2V?2?2ܖA=ٱ2W :AHRS rotation from veh to nav: [[-0.175602,-0.973062,-0.149380],[0.983327,-0.180651,0.020821],[-0.047245,-0.143234,0.988561]]2H zƿR# ÿ jw?@ǿR? 0@zU¿I?i2V?I2Oi;2̑CY^؁By^IbDfVDfyn%n\=ٔn9pYp=raFyrDv|WEv>xQ 5~4zn?Q 9~4z)z[BY|y?Q I?zCIz;iz;zzb4y Bɮ  A lE=DNOT Ignoring new targets: 55.85 m.h9h9*h9"h9 h9g9fAfAfAdAdIdIjdIZdML@52Bɢ5f=)9 =R?i9)==99i=ɀiAEGBCBIBBB =BBBz;B3E9@ @@0@ E- E-E-*E)"E-^;*E-<;VE-(N4ZE)BE)a52E)a5JE-E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005955a PZ&,@?ALL}?}+?}G=ٱ}  AHRS rotation from veh to nav: [[-0.174949,-0.973185,-0.149346],[0.983369,-0.180227,0.022464],[-0.048777,-0.142932,0.988530]]}HdƿT$@ÿ`w?ǿ?X@K¿ ?i}?I}L.h;}БCIG15(hAIYUށByUIup9}(hAY}4ZAi%Mb@Mb@Mb@!!!! !9%On?:v~jth?Y%8?y%Լ%D;%z@%"@ %G@)%@!Y%=@bD=VD=1yM:<%M)=ٔUO;Q-U>9QYQ=UaFyUD]#E]>Q 54:?Q 94)[BY8?Q E:y?Q I?ҒCI":iL:k4yɮ ADNOT Ignoring new targets: 55.85 m.hh*h"h hgfff}BdddjdZdL@e.Bɢe{=)i meX?ii)mY =iiimiquEg<}]IyIYchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.25866359@1 @1@50@1ԁ^A} 3A zA aAE  E E )E "E ̧;*E :;VE FA4ZE a @a @a @a @Թ A I I O >,,?A*checking for new query: numPingsReceived=0, elapsed TxPingTime=1.5100446?6&?6N=ٱ6  BAHRS rotation from veh to nav: [[-0.174363,-0.973301,-0.149271],[0.983386,-0.179895,0.024290],[-0.050495,-0.142556,0.988498]]6H`QƿI%Pÿw?ǿxߘ?lکD?¿`ơ?i6?I6f;4YJہByJILNAbDRVDRyZ\%Zp=ٔ^<;Q-^?9\Y\=^aFybDf ߺEf?hQ 5n4jd?Q 9n4jr)j[BYlyn?Q In?jCIj:ij:jp4ytɮv AtDNOT Ignoring new targets: 55.85 m.hh*h"h hgfff!d!d!d!jd)Zd-^$M@U+BɢUK=)Y ]^X?iY)] =YYi] iae(BBIBՁBB =BBDBz;B3EAI IY Ii O >a 3,J?A^l?^s?^S=ٱ^ jAHRS rotation from veh to nav: [[-0.173796,-0.973065,-0.151461],[0.983427,-0.179555,0.025113],[-0.051632,-0.144586,0.988144]]^H >ƿ`X#`cÿ`9!Y!=-aFy-D-E->1Q 5=45⏘?Q 9=45)5[BYAyE?Q IE?5CI54:i5:5&x4yMBɮM AMkE}DNOT Ignoring new targets: 55.85 m.hyhy*hy"hy hygyfyffdddjdZd_YM@颽'Bɢ`=) X?i)*=i- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266994 9,i?A2Qz?2ye?2X=ٱ2 :AHRS rotation from veh to nav: [[-0.173361,-0.973118,-0.151618],[0.983437,-0.179314,0.026408],[-0.052886,-0.144528,0.988086]]2H@0ƿ#5hÿQx? ƿ ?@¿@g?i2Qz?I2=d;2ˑCY\ybIiMb@Mb@Mb@ 9X9v?/$~jth?Y=?yd@ t@)?@Y@ <bDVD02y:%?=ٔ@;Q->9Y=aFyD˃E>Q 54?Q 9 4c)[BY >?Q E :y ?Q I?@CIQ;iRQ;4y%Bɮ% A%aEeDNOT Ignoring new targets: 55.85 m.haha*hi"hi higififqԱf}BdddjdZd@M@bE:4jEC4rE0E} ElE'E"E;*Ey';VE'4ZEa@a@a@a@"Bɢ=) ![?i)W=iii<gػII@ @@3@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518012 ^Am [RӻAm >Am >A .AI I O >A @,E ?A2|?2h?2'*^=ٱ2o :AHRS rotation from veh to nav: [[-0.173425,-0.973042,-0.152031],[0.983354,-0.179584,0.027656],[-0.054213,-0.144704,0.987989]]2H2ƿ(#uÿw? ƿQ?`¿`?i2|?I2c;2ΑCYBځByBIbDJ VDJ2yRt<%V`=ٔVn;Q-V>9V ?YZ ?=ZaFyZDZ)_9EZ>`Q 5b4b?Q 9f4b`)b[BYdyf?Q If?bbCIb:ib(:b4yhɮn AlDNOT Ignoring new targets: 55.85 m.hh*h"h hg f f f dddjdZdʾM@EBɢE=)I M]?iI)M=IIiMvyiQU5~<]ջIYIYchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770334PExceeded connect timeout, disconnecting.B>BBIBƁBBBBDBz;B3E9@ @@/@QEt EkE&E"E{;*E&;VE4ZEBEy  BDAT read: Rx Time:04:08:02.9132  TRx dataTimestamp_ set to:1761538084.364143 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023067F,U. ?A =$y?=Ld?=Vd=ٱ=7 MAHRS rotation from veh to nav: [[-0.173299,-0.972980,-0.152570],[0.983292,-0.179697,0.029087],[-0.055718,-0.144980,0.987864]]=H .ƿ"kÿ w?Lǿ ɝ? `¿?i=$y?I=mb;=ˑCYByIieMb@Mb@Mb@aaaa a9e+?V-Mb`?Ye??yee;e@eO@ e^@)aaYez@bD}VD}0y=%/=ٔS;Q->9"?Y"?=aFyD~E>Q 54?Q 94F{)[BY??Q E:y?Q I?CI ;iX ;&4yɮ ADNOT Ignoring new targets: 55.85 m.hh*h"h hgfff ~BdddjdZdM@%Bɢ-=)) -c?i))-}=11i5i1=<=O ܻI9I9checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2740069@ @@@@ =@ =Di zDm ?A^A rE f E E (E "E ";*E 4;VE c44ZE a @a @a @a @A A I I O >M,6 ?A:DAT read: 04:08:02.9132 LVL= 32752, 28609, 32754, 32755, AGC= 72, IDX= 459, 0.22,-0.943, 0.880,-0.764,-0.324, PHS=-0.517, 1.249,-0.484, RAW= 329.1, -2.9, CAL= 328.3, -5.9, ROT= 181.7, 5.9 >Ygot valid direction response: 04:08:02.9132 LVL= 32752, 28609, 32754, 32755, AGC= 72, IDX= 459, 0.22,-0.943, 0.880,-0.764,-0.324, PHS=-0.517, 1.249,-0.484, RAW= 329.1, -2.9, CAL= 328.3, -5.9, ROT= 181.7, 5.9 BPDAT read: Bearing 80.1, 2.6 (Local) B~Local bearing/azimuth received: Bearing 80.1, 2.6 (Local) JDAT read: Range 11 to 50 : 96.0 m (Round-trip 128.0 ms) speed -0.7 m/s JR#Rx 1: Read range and direction messages.Nbdirection in FSK: [-0.994265,-0.029509,-0.102793]RFpublishing direction and range infoy "ZQQK7zBPY"B ""o" ")"HI"Zi";ߟ?""ͷ@"4QO"x[@ "Bҽ)"J@I"B= "\.v뿆M. ߿񟩿 "Ԙ()"|M=I")Gi"B= y?d?@i=ٱP AHRS rotation from veh to nav: [[-0.173302,-0.973039,-0.152187],[0.983218,-0.179877,0.030444],[-0.056998,-0.144357,0.987883]]H.ƿ@##`zÿ`v?4ǿ ,?.`Kz¿@?iy?I#b;Y݁ByI=@A=@AbD=VD=fyMļ%MO=ٔUT;Q-u>9yYy=}aFy}D},8E>Q 540?Q 94zs)|[BYy?Q I?CI\'B CBBB =BBB{;B+3EB}CB} CByB} =B} =C}h5^AE g׻AI zAM fA AU .AIa E} k E} qEy Ey "E} f;*E} *;VEy ZEy BE} (T,nQ ?A2x?2c?2An=ٱ2 :AHRS rotation from veh to nav: [[-0.173263,-0.973122,-0.151702],[0.983148,-0.180015,0.031859],[-0.058311,-0.143626,0.987913]]2H{-ƿ#jÿu? ǿ`O?ڭSb¿ ?i2x?I2|Ab;2͑CYBځByBIbDNVDNyR%Vc=ٔVo;Q-V>9V ?YZ ?=ZaFyZDZE^>\Q 5b4^$~?Q 9f4^l)^o[BYdyf?Q If?^דCI^ :i^:^V4ynBɮn AnXEDNOT Ignoring new targets: 95.56 m.hh*h"h hg f f f dddjdZds-?ԑBɢ j=) d?i)!#=i뉼i9<B߻II9@ @@H0@^AmrA ؟AI I O > SMZ,5k ?A2}?2Dh?2"t=ٱ2 RAHRS rotation from veh to nav: [[-0.173379,-0.973103,-0.151690],[0.983052,-0.180313,0.033107],[-0.059568,-0.143379,0.987874]]2H@K1ƿ@#`jÿ)u?|ǿe?`>Z¿?i2}?I2a;2ʑCYnہByrIiMb@Mb@Mb@ 9J +?9 "?Y "?= aFy D 9E>Q 54{y?Q 94cEs ErEE"E;*E*;VEZEa@a@a@a@)\[BYH?Q E:y?Q I ?CI[*a, ?Aɰ4<21?2Xs?2lx=ٱ2( >AHRS rotation from veh to nav: [[-0.173701,-0.973080,-0.151469],[0.982931,-0.180775,0.034151],[-0.060613,-0.142952,0.987872]]2H ;ƿ y# Xcÿ,t?#ǿ9|?@>L¿`?i21?I2oa;2̑CYBفByFI J49Z ?YZ ?=^aFy^D^w:E^>`Q 5f4bv?Q 9f4b,\)bN[BYdyj?Q Ij?b(CIbj;ib;be4ylɮn AlDNOT Ignoring new targets: 95.56 m.hh *h "h  h g f ffdddjdZd@`3? Bɢj=) g?i)%=i-i <B5>B5!CB1B1B5 =B1B5DB5z;B5'3E ջiIIIq9@ @@4@ԙE_ E`E*E"E;*E'!;VE(N4ZEBElA->Au ؟AI I O > Qg,Ѳ ?A5Ś?5?5T,{=ٱ5 ]AHRS rotation from veh to nav: [[-0.174251,-0.973058,-0.150979],[0.982792,-0.181399,0.034834],[-0.061283,-0.142311,0.987923]]5HMƿJ#CSÿ s?8ǿա?@`<7¿?i5Ś?I5`;5͑CYmځBymI qqi-Mb@Mb@Mb@)))) )9-(\?y&1Mb`Y-N?y-`弙--@) ))))Y-@bDEVDEβyU;%U2=ٔ]:Q-]>9]"?Y]"?=]aFyeDei:Ee>iQ 5u4mq?Q 9u4mR)m8[BY}4N?Q E}:y}?Q I}?mWCIm? ;im:md4yɮ ADNOT Ignoring new targets: 95.56 m.hh*h"h hgfffw~BdddjdZd@iQ IU AL~m,_ ?A B$?BK?B}=ٱB NAHRS rotation from veh to nav: [[-0.174556,-0.972823,-0.152137],[0.982702,-0.181826,0.035157],[-0.061864,-0.143369,0.987734]]BHWƿ]!9hYh=jaFyn Dnj:En>pQ 5v4rVn?Q 9v4r+K)r'[BYtyz?Q Iz?r|CIrT;ir;r4y~$Bɮ~3 A~NE%DNOT Ignoring new targets: 95.56 m.h!h)*h)"h) h)g)f)f1f1d1d1d9jd9Zd=@ct@eBɢep=)i m=n?ii)u+=qqiueiy}<}»IyI9@ @@/@Ay^A `ԻA)A-@AB1B1B5IB5BB5 =B1B1B5z;B53Eԙ A I I O >E1  E5 NE5 )E1 "E1 *E5 ;VE5 FA4ZE1 BE1 aE 2E1 aE JE5 ~9IYI=MaFyMDMb:EM>QQ 5]4UXj?Q 9e4UlB)U[BYaye,?Q Ie?UCIU_:iU:U⾑4yiɮu AqDNOT Ignoring new targets: 95.56 m.hh*h"h hgfffdddjdZdy@Bɢ=) j?i)8.=iܪi!u<ൻII9@ @@/@Ա CmGliAE 9EliAYMA^AAgAzAhAA I I O > z,>< ?AF?F%?F?׀=ٱF" VAHRS rotation from veh to nav: [[-0.175500,-0.972392,-0.153800],[0.982470,-0.182968,0.035715],[-0.062869,-0.144836,0.987456]]FH vƿ@ÿep? {kǿ/I?/¿=?iF?IFn_;DY^ׁBybIla@a a@a a@a a@a bDVDN2yN<%@=ٔ81:Q->9Y= aFy D Q:E >!Q 5-4%9f?Q 9-4%m9)%ZBQ A-+:Y)Q E-U:y5;?Q I5?%ӔCI%K,;i%m>%đ4yE BɮEL AAmDNOT Ignoring new targets: 95.56 m.hihi*hi"hi higqfqfqfqdydydyjdyZd=@颭Bɢ(V=) p?E\ EiE.E"E;*E%;VEـ4ZEa@a@a@a@i)-߇1=11i5搼i9=<=;I9I9II)I @ @@/@1^Aybݻa I I O >s,3 ?A2=?2c?2'=ٱ2  :AHRS rotation from veh to nav: [[-0.176171,-0.972513,-0.152257],[0.982374,-0.183520,0.035530],[-0.062496,-0.143314,0.987702]]2HŒƿ`(}ÿo?}ǿ1?@r@X¿`A?i2=?I2#_;2ΑCYBԁByBIbDJVDJyR%Rb=ٔV̇Q-V>9TYX=ZaFyZ"DZ&:EZ>\Q 5b4^b?Q 9b4^1)^ZBQ Af :YdQ Ef,:yfQ?Q If?^CI^U:i^CJ?^ɑ4yhɮjg AlDNOT Ignoring new targets: 95.56 m.hh*h "h  h g f ffdddjdZdZ @AMBɢMA=)Q Up?iQ)U;L4=QQiU\iYećB"CBIBBB =BBDBz;B 3E@ @@_0@@@iEV E]E*E"E;*E;VE(N4ZEBE^ ݠ, ?AHɰHMp?M?MI4~=ٱMHԙ AHRS rotation from veh to nav: [[-0.176632,-0.972121,-0.154213],[0.982321,-0.183976,0.034615],[-0.062022,-0.145372,0.987431]]MHܛƿ@>ÿ,o?ǿ?P¿ ?iMp?IM _;M̑CÝByIauau auau auau auau iuMb@Mb@Mb@qqqq q9uCl?Zd;OMb`YuO?yujqu@u@ u@)u@qYu@bDVDy%.=ٔQ->9Y=aFy+D:E>Q 54]?Q 94()ZBQ AT:YO?Q E:y2?Q I?(CI;i;Gё4y%Bɮ ADEDNOT Ignoring new targets: 95.56 m.hh*h"h hgfff~Bd d d jd Zd@ @=Bɢ=@=)9 =mo?iA)E7=AAiEmiIM 4Ǎ,*9 ?A2?2?2p{=ٱ2 :AHRS rotation from veh to nav: [[-0.177164,-0.971863,-0.155224],[0.982267,-0.184438,0.033666],[-0.061348,-0.146507,0.987306]]2H@Rƿ@@]ÿn?`ǿi%>@ @@4@!^A=IIO>BAB>B#CBIBBB =BBBz;B 3EQy EE d EE aEE *EA "EE :;*EE !;VEE (N4ZEA BEE W9tYt=vaFyv;Dzi;Ez>xQ 54zOV?Q 94z4)zZBYy_?Q I?zvCIz;iz;zbޑ4yɮ ADNOT Ignoring new targets: 95.56 m.hh*h"h hgfffdddjdZd;@Q]Bɢ])=)a eh?ia)eZ==aaieiim ߚ,m ?AYUByUIiMb@Mb@Mb@ 9\(\?{Gz:vYZ?yףT&@@ )@Y@  bD VD 0y.%7=ٔ%Q-%>9)Y)=-aFy-DD-E5>1Q 5=45dQ?Q 9=45N)5ZBYEZ?Q EEx:yE?Q IE?5CI5;i5p;5/4yU*BɮU AU;E}DNOT Ignoring new targets: 95.56 m.hyhy*hy"hy hygfff~BdddjdZd`'@ԡBɢq=) j?i) @=iNi<jIIE EjE+E"E;*Ek&;VE [4ZEa@a@a@a@}9@y @y@}/@^A_AfAzAfA) A I I1 O= >) ,] ?A>C?>.?>"o=ٱ>C FAHRS rotation from veh to nav: [[-0.179343,-0.971016,-0.157999],[0.982055,-0.186227,0.029775],[-0.058336,-0.149824,0.986990]]>Hƿ@Q9Ŀl?JǿR}?`,ޭn-ÿl?i>C?I>ie_;9dYd=faFyfKDfs;Ef>hQ 5r4jlM?Q 9r4jb)j}ZBYtyv?Q Iv?jΕCIj1;ij2;jm4yz-Bɮzj Az:EDNOT Ignoring new targets: 95.56 m.h!h!*h!"h! h!g!f!f)f)d)d)d1jd1Zd5]%@eBɢma=)i m0c?ii)mwkC=qqiu𘘼B>BByIBBBBBBz;B3EBE"CBE"CBABE =BE =CE5iI<e$II@ @@@E EE,E"E;*E86;VEg4ZEBE,F ?A ]Hd?]nO?] Xk=ٱ] AHRS rotation from veh to nav: [[-0.180333,-0.971067,-0.156555],[0.981928,-0.187023,0.028985],[-0.057425,-0.148499,0.987244]]]H#ǿ`` Ŀk?Zǿ&?f`ÿ@?i]Hd?I]3z_;]ɑCYByhIiMb@Mb@Mb@ 9|?5^?I +MbpYR?y9@ @)@Y@bDVD:yw%-=ٔ)Q->9 ?Y ?=aFyUD ;E>Q 54cH?Q 94J)eZBYS?Q E:y?Q I?CI ;i7 ;4yɮ A-DNOT Ignoring new targets: 95.56 m.h)h)*h)"h) h1g1f1f1f5S~Bd9d9d9jd9ZdE @iuBɢu=)q utc?iq)} F=yyi}i]ν<II!@! @!@!@!@1@1ԑD9 zD9 EE  EE EA EA "EE ҝ;*EE 2;VEA ZEA aM @aU @aU @aU @^AU NJκ A ؟AI I O >N, ?A2]?2r?2j=ٱ2 :AHRS rotation from veh to nav: [[-0.181386,-0.970850,-0.156681],[0.981746,-0.188037,0.028597],[-0.057225,-0.148634,0.987235]]2H 7ǿ4` Ŀuj?ȿH?L@oÿ n?i2]?I2Tk_;2͑CYBByBXI HJ4<bDNVDNPyV왽%Vu=ٔZQ-Z?9Z"?YZ"?=ZaFy^[D^xR;E^?`Q 5f4bD?Q 9f4b')bUZBYhyj?Q Ij?b#CIb:ib:b4ylɮn Ap DNOT Ignoring new targets: 95.56 m.h h *h "h  h g f ffdddjdyZd}j@BɢD==) R_?i)\I=igi t< `I I @ @@0@AAAAB>BB`IBBBBBBz;B3E^AA>A>1 A I I O >EE } EE EA EA "EE ;*EE 3;VEA ZEA BEE ?>%?>rj=ٱ>k. FAHRS rotation from veh to nav: [[-0.181974,-0.970405,-0.158744],[0.981638,-0.188675,0.028087],[-0.057206,-0.150718,0.986920]]>HJǿ QĿi?&ȿ œ?)J@Jÿٔ?i>?I>L_;>̑CYN{ByNBIbDZVDZβyb%bG=ٔbHAQ-b>9dYd=faFyfdDfE:Ej>hlQ 5r4ja@?Q 9r4ja)jAZBYtyv ?Q Iv?jNCIj-;ij-;j4yz2Bɮz Az1EDNOT Ignoring new targets: 95.56 m.hh!*h!"h! h!g!f!f)f)d)d)d1jd1Zd5 o@]Bɢe=)a eX?ia)eL=aiimiiu*i *, ?AZa?Z?Zk=ٱZ- jAHRS rotation from veh to nav: [[-0.182941,-0.970211,-0.158816],[0.981442,-0.189674,0.028196],[-0.057480,-0.150710,0.986906]]ZHjǿ @TĿ@g?@@Gȿ vߜ?m yJÿດ?iZa?IZ^;ZˑCYrlByr/IQimMb@Mb@Mb@iiii i9mV-?Zd;OMbYmhQ?ymjmmj@m@ m@)m@iYm@bDVDy%?=ٔ':Q->9 ?Y ?=aFylDT;E>Q 54;?Q 94L)*ZBYQ?Q E:y?Q I?{CI;i;' 4yɮ0AmDNOT Ignoring new targets: 95.56 m.hihq*hq"hq hqgqfqfyf}I~BdydydjdZd@@DD<Ey ExE(E"E;*E-;VEc44ZEa@a@a@a@-Bɢ- =)1 5T?i1)5 O=11i5)i9=᥼, ?A2G?2l?2m=ٱ2 :AHRS rotation from veh to nav: [[-0.183382,-0.970151,-0.158676],[0.981328,-0.190188,0.028697],[-0.058018,-0.150451,0.986914]]2H yǿ z OĿ` g?`Xȿb?Aÿ˔?i2G?I2^;0YF`ByF IN@ALbDRVDRyV%Z[=ٔZ::Q-Z>9XY\=^aFy^tD~:E~>Q 5 47?Q 9 40ۿ)ZBYy?Q I?CI:i:4yɮ%A!BE>BE!CBE:IBEuBBE =BABEDBEz;BE!3EmDNOT Ignoring new targets: 95.56 m.hihq*hq"hq hqgqfqffdddjdZd@H@Թ~Bɢj=) ~P?i)@Q=iCpi!%JO<%G :I!I!@ @@3@Et EtE)E"E{;*E+;VEFA4ZEBE G hA - w9- hAY- `A9 ,:," ?Ab?b۷?bsq=ٱb3 AHRS rotation from veh to nav: [[-0.183445,-0.970376,-0.157221],[0.981263,-0.190343,0.029873],[-0.058914,-0.148795,0.987112]]bH@ {ǿQ Ŀf?*]ȿ ? ) ÿj?ib?IbY^;`Y5PBy= IbD=VD=0yU%U2=ٔ]U;Q-]>9YYY=eaFye}De-9Ee>iQ 54m2?Q 94mѿ)mYBYy?Q I?mҖCIm.;im;m4yɮ A DNOT Ignoring new targets: 95.56 m.h h*h"h hgfffddd!jd!Zd%`@MsBɢUr=)Q UzK?iQ)UT=QYi]ƠiYei I Ac,[< ?A>?>?>;t=ٱ> FAHRS rotation from veh to nav: [[-0.183919,-0.970898,-0.153397],[0.981127,-0.190807,0.031331],[-0.059689,-0.144740,0.987668]]>Hǿÿ@ee?_lȿ ?@@׆¿`?i>?I>Q^;>ʑCYN7ByNIiUMb@Mb@Mb@QQQQ Q9UB`"?I +MbpYUN?yU9UQQ Q)U@QYUp@bDmVDmy}%Y=ٔ ;Q->9"?Y"?=aFyDQ:E>Q 54.?Q 94ɿ)YBYN?Q E:yB9B=IB=QBB= =B9B9B='{;B=@3E^A9A I I O% > E%  E% E! E! "E% ՘;*E% 8;VE! ZE! BE% 9Y=aFyDw9E>!Q 5-4%*?Q 9-4%)%YBY)y-??Q I-?%!CI%[:i%t:%%4y1ɮ=wA9mDNOT Ignoring new targets: 95.56 m.hihi*hi"hi higifqfqfqdqdydyjdyZd}`g!@颭_Bɢ=) >?i)-Y=顱iis8<g:IIi@i @i@u/@q^Arg:A>A>) A I I! O5 >Y Mz, $p ?AYzByzIi}Mb@Mb@Mb@yyyy y9}oʡ?:vI +Y}M?y}T}9}@}@ y)}@yY}f@bDVDkyd%@=ٔQ->9Y=aFyDE>Q 54&?Q 94ʸ)YBY)M?Q E:y:?Q I?LCIa:ia;,4yɮADNOT Ignoring new targets: 95.56 m.hh*h"h hgff f }Bd ddjdZd!@ETBɢEH=)A E6?iA)M[=IIiM;iQUֺ], ?A06K?6p?6G(}=ٱ6 >AHRS rotation from veh to nav: [[-0.184538,-0.971318,-0.149959],[0.980882,-0.191606,0.034009],[-0.061767,-0.140817,0.988107]]6Hǿ1ÿcc?`ȿi?F¿?i6K?I6h^;6̑CYF ByFIbDRVDRJyZ㡽%Z\=ٔZS;Q-Z>9\Y\=^aFy^Db:Eb>dQ 5j4f!?Q 9j4f)fYBYhyjM?Q Ij?frCIf:if:f24Br>Br"CBrIBr#BBr =BpBpBrj{;Brb3EyɮA-DNOT Ignoring new targets: 95.56 m.h)h)*h)"h) h)g1f1f1f1d9ddjdZd9"@JBɢO=) 2?i)]=i Mi%7}<%:I!I)ԑ@ @@_0@E| E|E-E"E;*E/;VEt4ZEBE%Թ I,ͣ ?A$$BP?Bu?Bl=ٱBr` jAHRS rotation from veh to nav: [[-0.184202,-0.971291,-0.150542],[0.980902,-0.191393,0.034639],[-0.062458,-0.141287,0.987997]]BHǿDÿc?ȿ@D?x@¿ઝ?iBP?IB%^;@Y ByIbDUVDUNy}%>=ٔ1:Q->9Y!=%aFy%DUBE]>qQ 54u?Q 94u)u~YBYyB?Q I?uCIuE EzE*E"E;*E.;VE(N4ZEa@a@a@a@A E, ?A6;?6`?6=ٱ6_ BAHRS rotation from veh to nav: [[-0.183655,-0.971019,-0.152950],[0.980975,-0.191006,0.034711],[-0.062920,-0.143665,0.987624]]6Hǿ@ÿ%d?@rȿ`š?`c¿?i6;?I6k];6ɑCYFByJIIN=)N=i%Mb@Mb@Mb@!!!! !9%x&1?Mb9IYQ=UaFyUDUrEU>YQ 5e4]'?Q 9m4]m)]fYBYmZ@?Q Em:ym?Q Im?]ŗCI]:i]7:]sA4yyɮ}AyDNOT Ignoring new targets: 95.56 m.hh*h"h hgfffr}BdddjdZd@M$@3Bɢo=) &?i)Gb=iSiuĹB>B!CBIBBB =BBB{;By3EB!CBBB =BCƄ5qߕ=ߕa=ԡ E u E cE )E "E ;*E ";VE FA4ZE BE 91Y1=5aFy5D=cME=>AQ 5M4E%?Q 9M4E)ELYBYIyUp?Q IU?ECIEB:iE|:ErH4yYɮ]gAYyDNOT Ignoring new targets: 95.56 m.hh*h"h hgfffdddjdZd%@(BɢȆ=) ?i)LTd=iHBiJb<=JIIi@q @q@u/@qԩ^AA>A>I I O > ,XY ?Aɰ49Y=aFyDE>Q 54n?Q 94)5YBYB1?Q E:yj?Q I?CI~:i7:O4yɮA%DNOT Ignoring new targets: 95.56 m.h!h!*h!"h! h!g)f)f)f-I}Bd1d1d1jd1Zd=@%@eBɢe=)a m?ii)mtf=iiim)4iqu)Y (,5 ?A2n?2Y?2=ٱ2€ :AHRS rotation from veh to nav: [[-0.180556,-0.971309,-0.154785],[0.981389,-0.188373,0.037299],[-0.065387,-0.145170,0.987244]]2H sǿÿg?ȿ@? .@¿`?i2n?I2 ];2ˑCBF>BDBFfIBFȀBBF =BDBFDBF{;BFx3EYnBynTI ppbDzVDz:y%W=ٔ~;Q- >9 Y = aFy DE>Q 5%4(?Q 9%4;) YBY!y%,?Q I-?2CI:i:xV4y5JBɮ5A5EuDNOT Ignoring new targets: 95.56 m.hh*h"h hgfff d d9dAjdAZdM&@颵Bɢ=) ?i)vh=项isi<^!II@ @@@aEmi EmnEm$Ei"Em~;*Em(;VEm4ZEiBEmBԹ ,% ?A> E?>D0?>χ=ٱ> RAHRS rotation from veh to nav: [[-0.179300,-0.971509,-0.154989],[0.981560,-0.187271,0.038332],[-0.066265,-0.145258,0.987172]]>HOƿ  ÿh?{ǿO?З¿@?i> E?I>\;>ɑCYZByZFIbDbVDb02ynb%rM=ٔv.;Q-z>9|Y=aFyDME>1Q 5M45 ?Q 9U45삿)5 YBYaye?Q Im?5VCI5D;i5D;5]4yɮAԙDNOT Ignoring new targets: 95.56 m.hh*h"h hgfffdddjdZd`'@UBɢU =)Q UG?iQ)] j=YYi]謁iam<,aIIu%=u=A@I @I@M/@I@UgA@UgA^Am 7Dq zDu @AE} p E} wE} *Ey "E} ;*E} D-;VE} (N4ZEy a @a @a @a @I I O >9 ,B> ?A2?2?2E=ٱ2 >AHRS rotation from veh to nav: [[-0.177774,-0.971744,-0.155272],[0.981749,-0.185967,0.039824],[-0.067574,-0.145358,0.987069]]2HHƿ ÿ |j?ǿc?L@¿@?i2?I2a\;2ˑCYFByF;IiMMb@Mb@Mb@IIII I9M(\?y&1:vYM.?yM`eMTIM(@ I)ME@IYM@]AAYbDeVDeN2yu'%uA=ٔuK;Q-}>9yYy=}aFy}DpE>Q 54?Q 94{)XBY&.?Q E:y?Q I?zCIC ;i ;d4yɮ$ADNOT Ignoring new targets: 95.56 m.hh*h"h hgfff}BdddjdZdZ(@ ~Bɢ >=) ?i)*?l=iǷi!%T<%I!I!@ @@00@B>BB4IBBB =BBDB{;Bn3E^Ayb]IqIO>I ,X ?AE| EE+E"E;*E<;VE [4ZEBE%9hYh=jaFyjDntEn>pQ 5v4r?Q 9v4rt)rXBYxyz?Q Iz?rCIr:irA:rk4y|ɮ~VA%DNOT Ignoring new targets: 95.56 m.h)h)*h)"h) h)g)f)f1f1d1d1d9jd9Zd=)@~Bɢu^=) ?i) $n=i={i@<ûII ƐCquGFq9Yi[A@ @@4@yE?EolAԙ^A5IIO> 9,Ur ?APY~By~2IiMb@Mb@Mb@ 9/$?~jtx?~jth?Y1(?y;D;bA?@ )@Y@bDVD:2yĻ%==ٔQ->9Y=aFy D E >Q 54 ?Q 94[m)XBY%3(?Q E%:y% ?Q I%?CI:i:Es4y-PBɮ-A5 E]DNOT Ignoring new targets: 95.56 m.hYhY*hY"hY hYgYfafafeF}BdadidijdiZdmf*@额~Bɢ=) ?i)<4p=顡iKi¶<4羻IID5=D5R=E= E=jE=,E9"E=a;*E=k&;VE=g4ZE9a@a@a@a@M9@I @I@M4@I@U=@U=^Am#2! A I I O >",W| ?AB>BBIBBBBBBo{;Bd3ER>?Rb?Rqԙ=ٱRO bAHRS rotation from veh to nav: [[-0.174130,-0.972100,-0.157162],[0.981859,-0.183561,0.047519],[-0.075042,-0.146036,0.986429]]RHIƿq Ŀck?~ǿ\T?5O¿Ӑ?iR>?IR];PYrByr0I|  bDVDβy55%5R=ٔ5h9IYI=UaFyUDUE]>iQ 5u4m+?Q 9}4mf)mXBYy?Q I?mCIm[;imD\;my4yɮADNOT Ignoring new targets: 95.56 m.hh*h"h hgfffdddjdZd^*@~Bɢ^=) I?i)r=项iiZC<II)9@ @@3@@@@@EE EE|EE)EA"EEI;*EE/;VEEFA4ZEABEE$$),CW ?A2{?2l?2=ٱ2l :AHRS rotation from veh to nav: [[-0.173290,-0.971528,-0.161567],[0.981785,-0.183383,0.049687],[-0.077901,-0.150014,0.985610]]2Ha.ƿ 8Ŀj?yǿp?I`3ÿ@?i2{?I24];2ɑCYBByB5I DDbDNVDN1yZ0<%^S=ٔb=;Q-f>9hYh=jaFyjDn En>ayQ 54}?Q 94}`)}XBYy?Q I?}CI}C*bE(N4jEKJ4rE#e0EU m EU oEU *EQ "EU O;*EU );VEU (N4ZEQ a] @a] @a] @a] @ 0,2 ?A2w?2?b?24=ٱ2 :AHRS rotation from veh to nav: [[-0.172943,-0.971517,-0.162006],[0.981630,-0.183472,0.052347],[-0.080579,-0.149977,0.985400]]2H"ƿĿi?|ǿ5ͪ?٠`n2ÿf?i2w?I2Md];2ʑCYBByB.Ii Mb@Mb@Mb@     9  rh?MbP?9Y=aFyD@E>ԹQ 54?Q 94X)XBYG+?Q E:y?Q I?&CI_/;iQ:;4yɮADNOT Ignoring new targets: 95.56 m.hh*h"h hgff f U}Bd d d jdZd g,@=~Bɢ==)A E=?iA)E9v=AAiM9iIM[DB%>B%#CB%IB%wBB% =B!B%DB%X{;B%a3E9 E]  E] lEY EY "E] ҝ;*E] y';VEY ZEY BE] =am 2E] =am JE] 9tYt=vaFyvDzbEz>xQ 54z%?Q 94zER)zzXBYy?Q I?zFCIz];iz;z4yTBɮA E=DNOT Ignoring new targets: 95.56 m.h9h9*h9"hA hAgAfAfAfIdIdIdIjdIZdU+-@}~Bɢ}=) $?i);x=顁iHͯiȴ<)'II9@ @@/@II!)O5->Yԁ `<, ?A2p?2[?2D0=ٱ2 :AHRS rotation from veh to nav: [[-0.172675,-0.971865,-0.160193],[0.981224,-0.183914,0.058096],[-0.085923,-0.147153,0.985375]]2H7ƿ2Ŀ/f?@~ǿ̾?¿@0?i2p?I2n];2ʑCYfByf9IIh)jp;iUMb@Mb@Mb@QQQQ Q9Ui|?5?9Y=aFyDE>Q 54ꗊ?Q 94J)hXBY1?Q E:y?Q I?lCI;i-;G4y[BɮAEDNOT Ignoring new targets: 95.56 m.hh*h"h hgfff}BdddjdZdD.@~Bɢz =) C(?i)%z=!!i%aZi)-@<-I)I1qx>i!>Er EYE,E"E;*Ew;VEg4ZEa%@a%@a%@a%@i@i @i@m/@iԡ^A፨II O > B% >B% %CB% IB% rBB% =B! B% DB% L{;B% d3EBBB˔CB =B =Ci36IC, ?AY}By}8IbDVD1yMP%H=ٔQ->9Y=aFyDE>Q 54旊?Q 94hC)WXBYyQ I?CIC ;i ;h4yɮADNOT Ignoring new targets: 95.56 m.hh*h"h hgfffdddjd Zd @.@5~Bɢ= =)9 =*?i9)=|=9AiE9iAMI sI,U' ?Aɰp;Y~By@IbD%VD%ky5=%5Q=ٔ9Q-=>99Y9=EaFyE!DAEE>IQ 5U4M◊?Q 94Md<)MFXBYyQ I?MCIM4yUBɮ]AaQDNOT Ignoring new targets: 95.56 m.hh*h"h hgfffdddjdZd/@=~BɢE#=)A e.1?ia)ee=iiimiqu!(ZP,%zA ?A:T?:??:3۹=ٱ: BAHRS rotation from veh to nav: [[-0.171758,-0.972517,-0.157193],[0.980962,-0.183517,0.063524],[-0.090626,-0.143289,0.985523]]:H(ſ`Ŀ@ d?{}ǿ`C?`=3MW¿g?i:T?I:@];:ɑCYJByJ=IP PPi%Mb@Mb@Mb@!!!! !9%RQ?I +?9QYQ=UaFyU)D] E]>aQ 5m4eݗ?Q 9m4en4)e0XBYmB?Q Em:ym?Q Iu?eڙCIe:ie:eX4yyɮ}AyDNOT Ignoring new targets: 95.56 m.hh*h"h hgfff~BdddjdZd@=60@颅~Bɢ=) A2?i)=顉i$i<4"II9@ @@94@B>BBBB =BBBK{;Be3E^AAgAzA! A I I O% >E= y E= XE= *E9 "E= ;*E= ;VE= (N4ZE9 BE= 9Y=aFy1Dr9E>!Q 5-4%ؗ?Q 9-4%,)%XBY1y5?Q I5?%CI%:i%t:%D4y=Bɮ=A=EeDNOT Ignoring new targets: 95.56 m.hahi*hi"hi higififqfqdqdqdyjdyZd}0@颥|~Bɢ*e=) $5?i)Ɓ=顩iԁ b\,Q0u ?AYBy6IYiMb@Mb@Mb@ 9V-?~jt?YM?yD<GA@ @)S@Y=@bDVDk1y%@=ٔQ->9 ?Y ?=aFy9DE>Q 54ӗ?Q 94#)WBYM?Q E:y?Q I?,CI ;i ;4yɮWADNOT Ignoring new targets: 95.56 m.hh*h"h hgff!f%W~Bd!d!d)jd)Zd-1@Uq~Bɢ]=)Y ]U4?iY)]=Yaie?iam!IiIiEX EFEE"EɅ;*Ev;VEZEa @a @a @a @9@ @@@@=@=ԉԱ^A5I I O B >B B IB wBB B B B 0{;B Y3Ec,  ?AF|?Fg?FA=ٱF\i NAHRS rotation from veh to nav: [[-0.172920,-0.971676,-0.161074],[0.980528,-0.185283,0.065073],[-0.093074,-0.146685,0.984795]]FH@A"ƿĿ}`?@Yǿ@?ӷ ¿`p?iF|?IF܂^;FǑCYVByV:IIX)Z<bDb VDb2yj<%jZ=ٔn`;Q-n>9lYl=naFynADr>;Er>tQ 5z4vOϗ?Q 9z4v)vWBY|y~?Q I~?vSCIvr;iv;vD4yBɮ_AE5DNOT Ignoring new targets: 95.56 m.h9h9*h9"h9 h9g9f9fAfAdAdAdIjdIZdMi1@ԱMg~BɢUT=)Q U8?iQ)U0=YYi]ҳiYe$EliAais9liAY]AI! I9 OE >9 Zi,u ?A6?6͑?6ۿ=ٱ6@ BAHRS rotation from veh to nav: [[-0.174169,-0.971214,-0.162505],[0.980263,-0.186681,0.065081],[-0.093544,-0.147963,0.984559]]6H*Kƿ 0`ĿO^?(ǿ@"?@@r¿?i6?I63^;6ɑCYFByJ.IbDRVDRJyZP%ZL=ٔ^:Q-^>9`Y`=baFybIDbR;Ef>dQ 5j4fʗ?Q 9j4f)fWBYlyn?Q In?f{CIf ;ifj;f@ǒ4ypɮvAtDNOT Ignoring new targets: 95.56 m.hh*h"h hgfffd!d!d!jd!Zd%1@u^~Bɢu'=)q u5?iy)}I=yiai<EnII!u9@y @y@0@A^AIQIiqO}>E V E aE ,E "E ;*E !;VE g4ZE a @a @a @a @ԙ Fp, ?A21?2U?2~=ٱ2: :AHRS rotation from veh to nav: [[-0.175222,-0.970760,-0.164080],[0.980021,-0.187911,0.065183],[-0.094109,-0.149380,0.984291]]2Hmƿ@w`ſ`T\? y ȿѯ?ÿ P?i21?I20^;2ǑCYBByB&IiEMb@Mb@Mb@AAAA A9E5^I ?{Gz9qYq=ubFyuQDu&;E}>Q 54ŗ?Q 94v )WBYX?Q E{:yh?Q I?CIz:i*:Β4yBɮ AEDNOT Ignoring new targets: 95.56 m.hh*h"h hgfff~BdddjdZd^<2@T~Bɢ=)  $5?i ) f=  i 촼i0<IIq9@ @@0@@@BqBqBqBqBu =BqBqBu{;BuP3Eԩ^AI9IIO]> E% [ E% EE% )E! "E% %;*E% ;VE% FA4ZE! BE% I9XYX=ZbFyZYDZc;E^>`Q 5b4b?Q 9f4b/)bWBYdyf?Q If?bҚCIb:ib:bWՒ4yhɮnAlDNOT Ignoring new targets: 95.56 m.hh*h "h  h g f ffdddjdZd`2@EK~BɢM4=)I M0?iI)M%=IIiUsiQ¯<,ǻIIi@i @i@u4@q^A=AMfAzAMeAIIyO>I |,w ?A:Q5?:t ?:i=ٱ: BAHRS rotation from veh to nav: [[-0.178422,-0.970036,-0.164910],[0.979425,-0.191151,0.064716],[-0.094299,-0.149970,0.984183]]:H ƿ ſsW?`wȿ@4?#@;2ÿm~?i:Q5?I:U_;:ǑCYJwByJIi%Mb@Mb@Mb@!!!! !9%MbX9?Mb{GztY%a?y%%ף%tA% @ %@)%xA!Y% @bD= VD=2yMD%M@=ٔM^Q-M>9QYQ=UbFyUbD];E]>aQ 5m4e?Q 9m4e)eoWBYma?Q Emp:ym?Q Iu?eCIea:ie:eܒ4yyɮ}AyDNOT Ignoring new targets: 95.56 m.hh*h"h hgfff~BdddjdZd 4 3@A~Bɢ=) +?i)F=iZiquBNԩ Bm >Bm &CBm IBm bBBm =Bi Bm DBm 0{;Bm ]3Ec,&S?A2\q?2\?2T=ٱ2/ :AHRS rotation from veh to nav: [[-0.180217,-0.969631,-0.165344],[0.979100,-0.192943,0.064311],[-0.094260,-0.150298,0.984137]]2H Yǿ6)ſT?@^ȿv?@e!<ÿ ~?i2\q?I2m_;0@Y^^BybIbDjVDjky-%5L=ٔ5NиQ-5>99Y9==bFy=jDE;EE>IQ 5M4M&?Q 9U4M`)MLWBYQyU?Q IU?M/CIM:iM;M4yeBɮeAeEDNOT Ignoring new targets: 95.56 m.hh*h"h hgfffdddjdZdp3@7~Bɢ!=) >!?i)ȉ=i+di<=KII@ @@/@@=@=ԱEL E3E,E"EW;*Et ;VEg4ZEBEp,-*?A2?2г?2=ٱ2Z :AHRS rotation from veh to nav: [[-0.182840,-0.969270,-0.164574],[0.978694,-0.195350,0.063210],[-0.093417,-0.149510,0.984337]]2HKgǿ CſwQ?;ɿ`.?/귿'#ÿ?i2?I2' _;0YBNByBIIF=)Fp;bDNVDNܲyV$%VS=ٔV[Q-V>9Z"?YZ"?=ZbFyZqD^;E^>`Q 5f4bm?Q 9f4b)b*WBYdyfI?Q If?b[CIb:ib:b4ylɮnaApp%DNOT Ignoring new targets: 95.56 m.h!h!*h!"h) h)g)f)f1f1d9ddjdZd3@.~Bɢ=) ?i)+܊=!i%ӶiYe{k,jC?A>@?>c ?>L=ٱ>S JAHRS rotation from veh to nav: [[-0.185406,-0.968843,-0.164218],[0.978272,-0.197762,0.062250],[-0.092786,-0.149108,0.984458]]>Hcǿſ@N?@Pɿ-߯?ÿ?i>@?I>^;>ʑCYR8ByRIi-Mb@Mb@Mb@)))) )9-1Zd?~jtZd;OY-"[?y--j- A) -/@)-A)Y-@bDEVDEQyM׽%UA=ٔ]TĺQ-]>9YYY=ebFyezDe6;Ee>iQ 5u4m?Q 9u4m9ݾ)mVBY}D[?Q E}w:y}?Q I}?mCIm ;im ;m4yBɮ=ADNOT Ignoring new targets: 95.56 m.hh*h"h hgfff[~BdddjdZd.@4@颕%~Bɢu=) ?i)ɋ=顙i$;i*<ς:IIE9@A @A@E/@AyB%>B!B%IB%DBB% =B!B!B%k{;B%}3EB%CB&CBēCB =B =C5ԩ^A A I I O >E @ E BE &E "E u;*E Z;VE 4ZE BE !9Y=bFyD];E>9Q 5E4=益?Q 9M4=tԾ)=VBYIyM?Q IM?=CI=:i=:=4yQɮU,AyԹDNOT Ignoring new targets: 95.56 m.hh*h"h hgfffdddjdZd 4@~Bɢ =)  ?i ) l= iriUޭ<,;II@ @@0@@@^A;!A .AI I1 O= >9 :,~w?A2O?2r?2=ٱ2Ą :AHRS rotation from veh to nav: [[-0.189482,-0.968159,-0.163598],[0.977734,-0.201347,0.059129],[-0.090186,-0.148751,0.984754]]2H@ȿ )ĿI?@ɿ(F?rE ÿ?i2O?I2];2ȑCYBByBiI DDiEMb@Mb@Mb@AAAA A9EQ?y&1y&1YEU?yE`eE`AEM@ A)AAYE@bD]VD]:ym%mD=ٔu,Q-u>9u ?Yu ?=ubFy}D}$;E}>Q 54?Q 94˾)VBYU?Q E~:y?Q I?CI :iU:4yBɮMAآEDNOT Ignoring new targets: 95.56 m.hh*h"h hgfff}BdddjdZd@v5@ ~Bɢ ɡ=) >i)g=i᷼i!%a<%J;I!I)I1)1EM E;E(E"Eˀ;*E ;VEc44ZEa@a@a@a@9@ @@^0@A^A] ;qA ؟AI I! O- >B5 >B5 'CB5 ~IB5 BB5 =B1 B1 B5 {;B5 3Eԙ ",}Y?AYByJIbDVDk1y%%-O=ٔ-Q-->95"?Y5"?=5bFy5D5E5>AQ 5E4Ee?Q 9M4Eþ)EVBYIyIQ IM?E CIE:iE:E4yQɮUADNOT Ignoring new targets: 95.56 m.hh*h"h hgfffdddjdZdw5@% ~Bɢ%)=)! ->i))-=))i-i15LL<=ׂ;I9I9q@ @@4@ԡE= ENE+E"Es;*E;VE [4ZEBE |L,82?A11??gٱ=ٱ AHRS rotation from veh to nav: [[-0.191525,-0.967194,-0.166892],[0.977648,-0.203024,0.054641],[-0.086731,-0.152697,0.984460]]HȿA\ſH? ɿ@?`4`ÿ ?i?Im];ɑCY%By-$IbDEVDE0yM? %U9=ٔUQ-U>9] ?Y] ?=]bFy]D];Ee>aQ 5m4e?Q 9u4e)eWVBYqy}?Q I}?e9CIeNN;ieR;e4yɮADNOT Ignoring new targets: 95.56 m.hh*h"h hgff1f9dAdAdqjdqZd}-5@~Bɢ%=)! -5>i))-7=))i-pWi15|<5M;I1I9ee>ie%>@ @@ 1@@=@=EH EFE&E"E};*Ev;VE4ZEa@a@a@a@9 ^A vт;Y A5 ؟AI9 II O] >ʶ,j0?A2!?2D?2[=ٱ2 :AHRS rotation from veh to nav: [[-0.192192,-0.966724,-0.168843],[0.977682,-0.203494,0.052237],[-0.084858,-0.155035,0.984258]]2Hȿ f@ſ+I?@ ʿپ?@9@.ÿ ?i2!?I2];0YBRByBIIFR=)Fp9"?Y"?=bFyD{:E>Q 54d?Q 94)-VBYJ?Q E:y?Q I?bCI& ;im ;4yɮA DNOT Ignoring new targets: 95.56 m.h h *h "h  h gfff}BdddjdZd \P6@)U}BɢU)}=)Q U#>iQ)]_=YYi]#iae0ĬBB3IBBB =BBB|;B3E@ @@3@Y=%=^A%ϩ;ԑAq I I O >E D E @E *E "E ny;*E M;VE (N4ZE BE D9lYp=rbFyrDrEr>tQ 5z4v?Q 9z4v[)vVBY|y~?Q I~?vCIvn;iv;v4yBɮ!A ϢE5DNOT Ignoring new targets: 95.56 m.h1h1*h1"h1 h1g1f9f9f9dAdAdAjdAZdEe6@}Bɢ#=) ҏ>i)sϏ=ii  P< ʷ;I Iq9@ @@/@ԡ^AX;I I O > ,?Aɰ;:r?:?:(V=ٱ:+" FAHRS rotation from veh to nav: [[-0.191201,-0.966566,-0.170855],[0.978111,-0.202183,0.049204],[-0.082103,-0.157707,0.984067]]:HHyȿſL?ɿK1?/Ŀy}?i:r?I:a];:ɑCYJ~ByNIiMb@Mb@Mb@ 97A`?/$I +Y6?y9C A@ r@)AY@ 54<5<bD5VD5yE|½%MC=ٔMLQ-M>9IYQ=UbFyUDU1EU>YQ 5e4]$?Q 9m4])]UBYm6?Q Em:ymf?Q Im?]CI]:i]X:]#4yuBɮ}!A}΢EDD%=E4 E+EE"Ej;*E=;VEZEa@a@a@a@=DNOT Ignoring new targets: 95.56 m.h9hA*hA"hA hAgIfIfIfMZ}BdQdqdqjdyZd} "7@}Bɢ(=) >i) D=i⸼i<<Ǧ;IIm9@i @i@i@i@q@q^AM;AQzAUdA) B >B B IB BB =B B B |;B 4EI) I9 OM >Q ,?A2ó?2?2\=ٱ2# :AHRS rotation from veh to nav: [[-0.190064,-0.966646,-0.171670],[0.978425,-0.200923,0.048107],[-0.080995,-0.158823,0.983979]]2H Tȿ@JſAO? ڷɿ?`@PTĿ|?i2ó?I2];2ȑCYB~ByBI DDbDNVDN:yV%VU=ٔV{=Q-V>9XYX=ZbFyZD^!IE^>`Q 5f4b?Q 9f4b)bUBYdyf??Q If?bҜCIb :ib[:b*4yQɮ]"AYDNOT Ignoring new targets: 95.56 m.hh*h"h hgfffdddjdZd.7@}Bɢ=) U>i)V=ii9<@;II)m9@q @q@u/@qE; ECE+E"EDq;*E;VE [4ZEBE6ԁ (, .?A0Br?Bs?B=ٱBə# NAHRS rotation from veh to nav: [[-0.188785,-0.966986,-0.171166],[0.978755,-0.199477,0.047420],[-0.079998,-0.158578,0.984100]]BH*ȿſQ?tɿ`G?zELĿ}?iBr?IB[];BƑCYV~ByVIbD^VD^yfrŽ%fH=ٔf Q-j>9hYh=jbFyjDnTEn>pQ 5v4r?Q 9v4r )rUBYtyz?Q Iz?rCIr:ir:r14y|ɮ~=#A|%DNOT Ignoring new targets: 95.56 m.h!h)*h)"h) h)g)f)f1f1dddjdZd7@颅}BԑɢǨ=) ,5>i)&=idi<?;II9@ @@/@ԹDzDAAbE=(N4jE=mF4rE=Ǯ10EC E;E)E"Ex;*E ;VEFA4ZEa@a@a@a@^A r; I) I9 OM >,QH?A`Y~g~By~tIiMb@Mb@Mb@ 9kt?Zd;O~jtY 0?yjD Az@ )1AYAAbDVDky %==ٔQ->9Y=bFyDE>Q 5%4ǁ?Q 9-4)UBY-@0?Q E-:y-?Q I-?CI ;i ;94yEBɮE $AEŢEDNOT Ignoring new targets: 95.56 m.hh*h"h hgfff|BdddjdZd[8@-}Bɢ5 =)9 =>i9)=%=9AiE iAM&[BBIB~BBB>DBB|;B94EI)@ @@/@^A -;A >A >A IQ Ia Om >E < E 0E E "E ,r;*E ;VE ZE BE 9)Y)=5bFy5D1E5>9Q 5E4=p~?Q 9E4=p)=sUBYIyIQ IM?=?CI=:i=:=@4yQɮUz$AQDNOT Ignoring new targets: 95.56 m.hh*h"h hgfffdddjdZd h8@}Bɢ78=) l>i)mU=ii2<XE;II@ @@4@Iy^A2;II) OU >ԡ c,6[|?A2?29?2DB=ٱ2! :AHRS rotation from veh to nav: [[-0.184214,-0.968316,-0.168609],[0.979850,-0.194396,0.045875],[-0.077198,-0.156760,0.984615]]2H Pǿrſ Z?ȿ|?>óĿ@?i2?I2^;2ǑCYB*~ByBNIi=Mb@Mb@Mb@9999 99=?/$MbPY=,?y===Z A=@ =@)=GA9Y= @bDU VDU:2yeN%eF=ٔmP߻Q-m>9iYi=ubFyuDuF;Eu>E E1E,E"E*Ef;VEg4ZEa@a@a@a@ԑQ 54z?Q 94)})^UBY,?Q E:y?Q I?bCIL:i:VG4yɮ%ADNOT Ignoring new targets: 95.56 m.hh*h"h hgfffdddjdZd#9@%}Bɢ%2=)! %=i!)-=))i-:i15 <5I1I9@ @@X4@ԩ^Ae;B >B B LIB '~BB =B B B };B ^4EB'CB'CBBɽ =Bɽ =C=5A I I O > K,6?Aɰ4<2=?2^?2D=ٱ2k :AHRS rotation from veh to nav: [[-0.182404,-0.968903,-0.167200],[0.980248,-0.192424,0.045688],[-0.076441,-0.155564,0.984864]]2HYǿ@@fſ@0^?@\ȿ{d?@`ÿ ?i2=?I2{];2őCYB ~ByBHI Jp9XYX=ZbFyZDZ,E^>`Q 5f4bw?Q 9f4bv)bKUBYdyf?Q If?bCIb:ib:bM4ylɮn*%AlDNOT Ignoring new targets: 95.56 m.hh*h"h h g f f f dddjdZd҃9@}Bɢ$=) =i)=i'iY<pn(II9@ @@/@^AeEC E6E-E"Ex;*E ;VEt4ZEBE{Qy y,?A2j?2U?2ޣ=ٱ2h :AHRS rotation from veh to nav: [[-0.180305,-0.969655,-0.165105],[0.980676,-0.190173,0.045918],[-0.075923,-0.153636,0.985206]]2H`>ǿ`i+"ſa?Wȿ?oUÿφ?i2j?I271^;0YB~ByB=IbDJ VDJf2yR/%RJ=ٔVfQ-V>9V ?YV ?=ZbFyZDZEZ>\Q 5b4^t?Q 9b4^}o)^7UBYdyf\?Q If?^CI^d:i^:^T4yjBɮn%AnEDNOT Ignoring new targets: 95.56 m.hh*h"h hgf f f d ddjdZdm9@E}BɢElu=)A E=iI)MN͑=IIiM+1iQUiy Iy ],?AY~~By~5IiMb@Mb@Mb@ 9Gz?9"?Y"?=bFyDE> Q 54Ա p?Q 94 g) %UBY0?Q E:yQ?Q I? ͝CI U E :E ,E "E s;*E $ ;VE g4ZE BE 2,?A2?2?2.=ٱ2 :AHRS rotation from veh to nav: [[-0.176906,-0.970334,-0.164793],[0.981424,-0.186541,0.044829],[-0.074240,-0.153801,0.985309]]2H`ؤƿ ſg?ǿ@?_`ÿ?i2?I2_];2đCYB}ByB-IHJAAbDNVDNJyV%V`=ٔVQ-V>9XYX=ZbFyZDZGE^>`Q 5f4bl?Q 9f4b a)bUBYdyf?Q If?bCIb_:ibw:bc4yjBɮn0&AnEDNOT Ignoring new targets: 95.56 m.hh*h"h  h g f f fdddjdZd:@颥}Bɢݞ=) d=i)z=顩i'Hi<.IIQ@Q @Q@U0@Q9^A}yA>A>i A .AI I O >,Zb?A0:?:?:=ٱ: BAHRS rotation from veh to nav: [[-0.175974,-0.970342,-0.165737],[0.981676,-0.185489,0.043672],[-0.073119,-0.155014,0.985203]]:HTƿ 6ſi?ǿ\? 跲ÿdž?i:?I:;^;:ǑCYHyHiMb@Mb@Mb@ 9S?Q:v?Y/=?yuT<@ @)YAbD5VD5k1yE%EB=ٔEX/Q-M>9M ?YM ?=MbFyMDUSEU>YQ 5e4]h?Q 9e4]X)]UBYe@=?Q Em:ym?Q Im?]CI]j:i]:]lj4yqɮu3&AqE@ E=E+E"Eu;*E;VE [4ZEa@a@a@a@DNOT Ignoring new targets: 95.56 m.hh1*h1"h1 h1g9f9f9f=|BdAdAdAjdAZdEs*;@}Bɢ=) Գ=i)<=i{fi< IIԉ9@ @@0@Թ^AΒBY BY B] IB] }BB] =BY BY B] };B] 4E A I I O% >T,<?A2?2&?2W=ٱ2<" :AHRS rotation from veh to nav: [[-0.175571,-0.970005,-0.168125],[0.981831,-0.185018,0.042152],[-0.071994,-0.157670,0.984864]]2HyƿG ſ`(k? ǿ?5n`.Ŀ?i2?I2!^;2őCYTyT\bDbVDbβyj=:%jR=ٔn=Q-n>9pYp=rbFyrDvEv>xQ 5~4zd?Q 9~4z~Q)zTBYy?Q I?z:CIz];izj;z?q4y ɮ 1&A 5DNOT Ignoring new targets: 95.56 m.h1h1*h9"h9 h9g9f9fAfAdAdAdIjdIZdM;@u}Bɢu2à=)y }=iy)}`=顁iji'<yII59@1 @1@54@1]GqE? E2E)E"Et;*E;VEFA4ZEBEYA e ,1?A4<ɰ2?2"?2ԑ=ٱ2O$ :AHRS rotation from veh to nav: [[-0.175372,-0.969778,-0.169633],[0.981928,-0.184749,0.041048],[-0.071147,-0.159369,0.984652]]2Hrƿl ſk?٥ǿ@8?61fĿ E?i2?I2/^;2ȑCYB}ByB)IbDJVDJyRx%VM=ٔV Q-V>9XYX=ZbFyZDZK EZ>`Q 5f4b`?Q 9f4bI)bTBYdyfz?Q If?b_CIb:ib:b2x4yjǓBɮn&AnEDNOT Ignoring new targets: 95.56 m.hh*h"h hgfffdddjdZd@m;@%}Bɢ-@ =)) -0=i))Uq=YYi]iaeԡ ,4J?A2?2%?2=ٱ28$ :AHRS rotation from veh to nav: [[-0.175611,-0.969663,-0.170043],[0.981881,-0.185012,0.040993],[-0.071209,-0.159763,0.984584]]2Hkzƿz@ſ`k?`{ǿ?@:sĿ?i2?I2Y];0YB}ByB0Ii%Mb@Mb@Mb@!!!! !9%(\?y&1y&1?Y%G?y%`e%`e<%(A%@ %=@)%GA!Y%AԙbDUVDU2yM<%M2=ٔM9Q-U>9iYi=ubFyuDu :E}>yQ 54}[?Q 94}@)}TBYG?Q E:y?Q I?}CI}L:i}:}A4yɮT&ADNOT Ignoring new targets: 95.56 m.hh*h"h hgfffJ}BdddjdZd|e<@B9B9B=IB=}BB9B9B9B=#~;B=4Ee}Bɢe=)a eB=ia)mg’=iiim^iqu E I E +E *E "E };*E =;VE (N4ZE BE /9\Y\=bbFyb&Db;Eb?dQ 5j4f:X?Q 9j4f9)fTBYlyn?Q In?fCIf-:if;fW4ypɮr&Ap DNOT Ignoring new targets: 95.56 m.h h*h"h hgfffdd!d!jd!Zd% <@U|}Bɢ])F=)Y ]=iY)e=aaieg/iimPqԙ ,~?A2?2?2:C=ٱ2& :AHRS rotation from veh to nav: [[-0.177649,-0.969073,-0.171285],[0.981574,-0.186938,0.039587],[-0.070382,-0.161096,0.984426]]2H5ƿ @ſ` i? ǿ D? ̞Ŀj?i2?I2m];0Yj}Byj/IbEjEP4rE/EeH Ee5EaEa"Ee};*Ee ;VEaZEaam@au@au@au@iUMb@Mb@Mb@QQQQ Q9Um?y&1~jth?YUN?yQUD;UAU@ US@)UAQYUA@AbD VDf2y<%<=ٔwQ->9Y=bFy.D@;E>Q 54xS?Q 94o0)TBYN?Q E:y?Q I?ݞCI\ ;i ;ꍓ4yɮV&AqDNOT Ignoring new targets: 95.56 m.hh*h"h hgfffi}BdddjdZd+4=@=s}Bɢ=/e=)A E>iA)E+)=AAiEO|iqu 92,<?A0NҜ?N?N^=ٱNw& ^AHRS rotation from veh to nav: [[-0.181896,-0.968246,-0.171506],[0.980912,-0.190862,0.037186],[-0.068739,-0.161468,0.984481]]NH`ZHǿ`ſ@c?)nȿ ?ݘĿ`ހ?iNҜ?INJ,];NȑCYj}ByjIPExceeded connect timeout, disconnecting.iMb@Mb@Mb@ 95^I ?/$MbYX?yVAE@ )tAYA %4<%;bD-VD-y=.%=3=ٔEҤQ-E>9E"?YE"?=MbFyMGDM[R;EM>QQ 5]4UE?Q 9]4U9)UfTBYe+X?Q Ee{:ye?Q Ie?U^CIU:iUa:Uv4yiɮmj'AqDNOT Ignoring new targets: 95.56 m.hh*h"h hgfff}BdddjdZd9i>@BB(CBBB =BBB~;B5EB(CB(CBB¼ =B¼ =C%4^}Bɢj=) =i)蹓=  i Ui~<]YIIԉ@ @@0@Թ^A3 E _ E JE E "E ;*E ;VE ZE BE l9,?A2{?2?2=ٱ2# :AHRS rotation from veh to nav: [[-0.183929,-0.968279,-0.169132],[0.980578,-0.192670,0.036669],[-0.068092,-0.159102,0.984911]]2Hǿ$ſ`?hȿHƢ?nw]Ŀ@d?i2{?I25];2ǑCYZ}ByZI`bDfVDfyn%nd=ٔrQ-r>9pYp=vbFyvODv;Ev>xQ 5~4zA?Q 9~4zc)zLTBYy@?Q I?zCIz;iz;z4y ٓBɮ (A E=DNOT Ignoring new targets: 95.56 m.hAhA*hA"hA hAgAfAfIfIdIdIdQjdQZdUF>@颥X}Bɢs=) =i)[ٓ=顩ii<-κIIQ@Y @Y@]4@Y^Ayb]A .AI9 I Ii O >>?,A?A2+(?2K?24f=ٱ2m! :AHRS rotation from veh to nav: [[-0.186081,-0.968294,-0.166677],[0.980211,-0.194609,0.036239],[-0.067526,-0.156635,0.985345]]2H ~ǿ C@Uſ ]?@ȿ@ۍ?gI Ŀ ?i2+(?I2];2őCYB}ByBID9D=R=EEU EELEE+EA"EEl;*EE;VEE [4ZEAaU@aU@aU@a]@i}Mb@Mb@Mb@yyyy y9}Zd;?I +Y}Y?y}94}̼}Ay y)} AyY}zAbDVDy%>=ٔ Q->9 ?Y ?=bFyWDѦ;E>Q 54B'CBIB}BB =BBB;BR5EI) I9 OM >ԡ &F,?A2\?2 H?2X=ٱ2k :AHRS rotation from veh to nav: [[-0.187665,-0.968158,-0.165687],[0.979944,-0.196053,0.035666],[-0.067014,-0.155671,0.985533]]2H`hȿ &<5ſ`[?@GɿB?'ÿ}?i2\?I2\;0YB}ByBIJAAJ@AbDJVDJ02yRj%V\=ٔV_Q-V>9XYX=ZbFyZ_DZ ;EZ>`Q 5b4b8?Q 9f4b)b TBYdyf ?Q If?b۟CIb:ib:b4yhɮn(AlDNOT Ignoring new targets: 95.56 m.hh*h"h hg f f f dddjdZd`?@yK}Bɢ=) r=i)=ii<«:II9@ @@/@EUR EUIEU,EQ"EU;*EU ;VEUg4ZEQBEU<A>I I O > SL,3?A2&?2Fx?2P=ٱ2 :AHRS rotation from veh to nav: [[-0.189112,-0.968007,-0.164923],[0.979694,-0.197388,0.035175],[-0.066604,-0.154922,0.985679]]2H4ȿ@ 1ſ`Y?@Dɿ@w?@ {ÿ?i2&?I2/];0YBt}ByBIbDNVDNyRD%VJ=ٔVQ-V>9TYX=ZbFyZgDZLn;E^>\Q 5b4^3?Q 9f4^)^SBYdyf>?Q If?^CI^ :i^$:^;4ylɮn(AlDNOT Ignoring new targets: 95.56 m.hh*h"h hg f f f dd!d)jd9Zd= ?@mE}Bɢmš=)i m;=ii)u&=qqiuQiy}<}Nw;IyI59@1 @1@9@9Eej EeaEe*Ea"Ee;*Ee!;VEe(N4ZEaau@au@au@au@^A] ;IIO>iiA IE Aԑ v:S,nM?ANA?Na?N3=ٱN ZAHRS rotation from veh to nav: [[-0.190134,-0.967803,-0.164943],[0.979506,-0.198374,0.034857],[-0.066456,-0.154935,0.985687]]NH`MVȿ@> ſX?`Odɿء?; ÿ@?iNA?IN(];LYvc}ByvIiMb@Mb@Mb@ 9l?~jtQ롿YW?yļ\VA\@ bA) AYAbDVDy%9=ٔQ->9Y=bFypD;E>Q 54<.?Q 94K)SBYW?Q E{:y'?Q I?7CI:ij:Ɠ4yBɮ)AE%DNOT Ignoring new targets: 95.56 m.h!h!*h!"h! h!g)f)f)f5m}Bd1d1d1jd9Zd=`O5@@B}>ByB}IB}p}BB} =ByByB};;B}l5Eԑ?}Bɢ%=)! %\=i!)%7=)IiMiQUSkU IGm hA^Au ; Gw9 hAY `AI I O >Ee { Ee rEe 'Ea "Ee ;*Ee *;VEe '4ZEa BEe ]9Yi=mbFymwDu7&;Eu>yQ 54})?Q 94})}SBYyI?Q I?}`CI}:i}Z:}T͓4yɮ*ADNOT Ignoring new targets: 95.56 m.hh*h"h hgfffdddjdZdKg@@9}Bɢa=) PjI J`,8?A2E?2d?2Ӈ=ٱ2 >AHRS rotation from veh to nav: [[-0.191900,-0.967561,-0.164318],[0.979174,-0.200065,0.034519],[-0.066274,-0.154272,0.985803]]2H+ȿ`B`^ſ`eU?ɿ~?@P`,ÿ`?i2E?I2[;];0Y^0}BybIE%x E%vE%)E!"E%L;*E%,;VE%FA4ZE!a-@a-@a-@a-@iMb@Mb@Mb@ 9ˡE?y&1:vYG?y`eԼ @)AYQAbDVDfyU%:=ٔI8Q->9 Y = bFy D :E >Q 54,%?Q 9%4;ٽ)SBY%H?Q E%:y%?Q I%?CI :iv:ԓ4y)ɮ5e*A1]DNOT Ignoring new targets: 95.56 m.hYhY*hY"ha hagafafafm}BdididijdiZdu`@@额3}Bɢؓ=) 7i)<=顡ip漼i6<;IIQ-9@) @)@-0@1y^AUr;ByByB}IB}=}BByByByB}5;B}i5EIIO>ԩ tf,?A6(?6G?6Lc=ٱ6@ >AHRS rotation from veh to nav: [[-0.192311,-0.967688,-0.163085],[0.979075,-0.200470,0.034983],[-0.066546,-0.152944,0.985992]]6HȿL`Ŀ T?ɿT?/ ÿ>?i6(?I6z`];6ƑCYJ}ByJIbDVVDV:ynO%n_=ٔrpC:Q-r>9pYp=rbFyrDv~:Ev>xQ 5~4z!?Q 9~4zѽ)zcSBYy?Q I?zCIz;iz;z#ۓ4y ɮ *A 5DNOT Ignoring new targets: 95.56 m.h1h1*h9"h9 h9g9f9fAfAdAdAdIjdIZdM{@@u.}Bɢu =)y } iy)}5=yi|i<g;II@ @@4@ԩE5v E5rE1E1"E5c;*E5*;VE1ZE1BE5r l,?A2?2?2=ٱ26 :AHRS rotation from veh to nav: [[-0.192651,-0.967827,-0.161854],[0.978989,-0.200804,0.035463],[-0.066823,-0.151622,0.986177]]2H˨ȿoĿS?ɿ@-(?LWhÿÎ?i2?I2ZU];2ǑCYB|ByBIlbDvVDvky%F=ٔ%-0:Q-%>9!Y!=%bFy%D-:_:E->1Q 5=45y?Q 9=45ɽ)5CSBY9yE?Q IE?5ؠCI5;i5;5W4yMBɮMx+AMEuDNOT Ignoring new targets: 95.56 m.hqhq*hq"hy hygyfyffdddjdZd:A@颵)}Bɢۻ=) 9i)3"=项iin<,>;IIU9@Q @Y@]/@Y9bEƷG4jEI4rEA/EEw EEEAEA"EEؓ;*EE2;VEAZEAae@ae@ae@ae@^A;A I I O >a s,2?A2?2?2j=ٱ2 RAHRS rotation from veh to nav: [[-0.192319,-0.967938,-0.161583],[0.979006,-0.200576,0.036289],[-0.067535,-0.151211,0.986192]]2HȿYĿT?yɿ@w? I@Zÿ?i2?I2Pi];2őCYV|ByZIIZ<)Zp;9iMb@Mb@Mb@ 9S㥛?/$Zd;OY$F?yjAr@ @)AYAbDVDܲy"s%B=ٔ:Q->9Y=bFyDLE>Q 54 ?Q 94)$SBYMF?Q E:y?Q I?CI:i]:4yɮ+ADNOT Ignoring new targets: 95.56 m.hh*h"h  h g f f f|BAA@AB%>B%&CB%IB%|BB% =B%?DB%DB%*;B%a5Edd1d9jd9Zd=7A@e#}Bɢe=)i m6ii)m=iiimiq}1+<}ݗ;IyIy-9@) @)@)@)iԙ^Amϩ;EM ~ EM cEM +EI "EM ;*EM ";VEM [4ZEI BEM װy,e?AJ?J?J^=ٱJp RAHRS rotation from veh to nav: [[-0.191210,-0.968160,-0.161572],[0.979088,-0.199778,0.038404],[-0.069459,-0.150850,0.986113]]JH`yȿ *aĿ T?Pɿ ?ȱ Oÿ=?iJ?IJ];JǑCYZ|ByZxIbDfVDf:yjE%jY=ٔn;Q-r>9v"?Yv"?=vbFyvDv?Ez>xQ 5~4z?Q 94z)zSBYy?Q I?z'CIz;iz;zS4y ɮ),A=DNOT Ignoring new targets: 95.56 m.h9h9*h9"h9 h9gAfAfAfAdIdIdIjdIZdMgA@ԙ}Bɢ%*;=)) -i))-E=)1i5iAE! ,?Aɰ49Y=bFyDGE>Q 54?Q 94k)RBY~BBkIB|BB =BBB#;B]5EB'CB'CBBǾ =Bǿ =CǢ5Q^A yb];A zA fAA= .AIA IY Oe >ԉ †,[[?AFF?Ff}?F=ٱFQ NAHRS rotation from veh to nav: [[-0.189174,-0.968307,-0.163076],[0.979192,-0.198449,0.042447],[-0.073463,-0.151652,0.985700]]FH6ȿ`@ĿU?@fɿ?β Yiÿڊ?iFF?IFD];DYV|ByV`I XXbD~VD~ky ʽ% R=ٔ ;Q- >9 ?Y ?=bFyD-E>!Q 5-4% ?Q 9-4%)%RBY)y-?Q I-?%tCI%:i%:%4y=Bɮ=&-A=EeDNOT Ignoring new targets: 95.56 m.haha*ha"ha higifififidqdqdqjdqZd}@A@颥}BɢB=) ݽi)O=顩ii?Z<:IIqm9@i @q@u 0@qEw EkE)E"Eؓ;*E&;VEFA4ZEBE: ,AJ6?A>k?>V?>=ٱ>n FAHRS rotation from veh to nav: [[-0.187983,-0.968438,-0.163678],[0.979224,-0.197700,0.045106],[-0.076041,-0.151799,0.985482]]>Hȿq`hĿ@U?`:Nɿ?@ow#nÿ?i>k?I>^;>ƑCYN|ByN]IbDVVDVy^ %bN=ٔb;Q-b>9f"?Yf"?=fbFyfDfDCEf>lQ 5n4n?Q 9r4n{)nRBYpyr?Q Ir?nCIn$:in=:nu4ytɮz6-AxDNOT Ignoring new targets: 95.56 m.hh*h"h hgfffdddjdZd B@}Bɢ?=) Xܽi)k=ivWi <v:II@ @@0@DzDAAE=p E=pE=*E9"E=;*E=);VE=(N4ZE9aU@aU@aU@aU@^A ;) A .AI! I1 OE >Q ݓ,7P?AY |By PIB<Ap<B>BBFIB||BBBBB;BW5EiMb@Mb@Mb@ 9MbX9?QMbpYA?yA @)- AYpAAAbDVDNy C%8=ٔQ->9 ?Y ?=bFyDE> Q 54 ?Q 94 ) RBYA?Q E:y5?Q I? ġCI  :i : : 4y!ɮ%-A)MDNOT Ignoring new targets: 95.56 m.hQhQ*hQ"hQ hQgQfQfYf]|BdYdYdajdaZdec;B@颕 }Bɢ"=) i)-4=顙ii<c:IIq@q @y@}4@yI^Aq:A>A>q E%  E% iE% ,E! "E% ҝ;*E% %;VE% g4ZE! BE% =a5 2E% =a5 JE% ,i?A0U?U%?U\=ٱU\ eAHRS rotation from veh to nav: [[-0.184562,-0.969601,-0.160654],[0.979413,-0.195049,0.052017],[-0.081771,-0.147747,0.985639]]UHཟǿSĿZW?[ȿ@ꡪ?]¿[?iU?IU];U‘CԉYr|By?IbD=VD=yMa%M+=ٔUD9]"?Y]"?=]bFy]De Ee>Q 54.?Q 94')RBYy?Q I?CI:i:4yɮ-ADNOT Ignoring new targets: 95.56 m.hh*h"h hgfffdddjdZd`k|B@}BɢÎ=)V i)@=iZiE<IIԹ@ @@0@ ^A  E=  E= E= +E9 "E= I;*E= *5;VE= [4ZE9 aM @aM @aM @aM @A II!O5>ա,沇?AN¾?N?NN=ٱN  VAHRS rotation from veh to nav: [[-0.182689,-0.970095,-0.159815],[0.979531,-0.193566,0.055239],[-0.084522,-0.146452,0.985600]]NHYbǿ` tĿ@QX?ȿRH?= ¿` ?iN¾?IN&];NCY^P|By^*IiEMb@Mb@Mb@AAAA A9EˡE?9qYq=ubFyuD}uE}>Q 54?Q 94ӈ)mRBY&H?Q E:y?Q I?CI ;iu ;4yBɮ.AvEDNOT Ignoring new targets: 95.56 m.hh*h"h hgfff|BdddjdZdB@ }Bɢ"q=) J1i)y=i i<fII9Y@Y @Y@]4@YB>B%CB IB?|BB =BBDB#;BX5Ei^A} ԙ A I I  GO5 >9 (,}?A&u9(Y*^A.;ɰ.;Jv?Ja?J2=ٱJY VAHRS rotation from veh to nav: [[-0.180490,-0.970460,-0.160096],[0.979708,-0.191805,0.058160],[-0.087149,-0.146351,0.985387]]JHMǿ ~Ŀ@Y?ȿǭ? eO¿`I?iJv?IJ`];JđCYZM|ByZ)I ``bDfVDfN2y=o%=N=ٔE};Q-E>9AYA=EbFyEDMǵEM>QQ 5]4Ub?Q 9]4UĀ)URRBYayet?Q Ie?U?CIU#;iU/;U#4yiɮm.AiDNOT Ignoring new targets: 95.56 m.hh*h"h hgfffdddjdZd`B@|BɢFr=) .i)Vb=i i<gIIE% E%xE%*E!"E%;*E%-;VE%(N4ZE!BE% j%,PU?A6*?6?6̆=ٱ6 >AHRS rotation from veh to nav: [[-0.178186,-0.970748,-0.160927],[0.979919,-0.189932,0.060703],[-0.089493,-0.146879,0.985098]]6H`ƿ^BĿ~[?Oȿy? 趿`¿?i6*?I6];6‘CYF4|ByFIbDRVDRkyVɂ%VT=ٔZ;Q-Z>9XY\=^bFy^D^ĻEb>`Q 5f4b?Q 9j4bx)b7RBYhyj(?Q Ij?beCIb:ibg:b)4ylɮr,/Ap DNOT Ignoring new targets: 95.56 m.h h *h "h  h g fffdddjdZdF C@|Bɢm=) Bi)^=i5i9EB $CB IB |BB =B B B ;B Q5Eԙ ^A A%.AI)IAOM?+,i?A9e ?Ye ?=mbFymDm7NEu>yQ 54}G?Q 94} n)}RBY1K?Q E:yt?Q I?}CI}C:i}:}24yBɮ/AmEDNOT Ignoring new targets: 95.56 m.hh*h"h hgfff|BdddjdZdaOC@额|Bɢ r=) oIi)=顱iti < IIԡEE EEEAEA"EE;*EEH;VEAZEABEE =aM2EE =aMJEEA >I A؟AI!I1OE>H*,i?A21?2O?2=ٱ2Y :AHRS rotation from veh to nav: [[-0.174778,-0.971410,-0.160674],[0.980301,-0.186927,0.063778],[-0.091989,-0.146362,0.984945]]2H_ƿĿ^?6ǿS? ¿?i21?I2Q];2đCY^{By^IbDfVDf:ynWǽ%r)=ٔr';Q-r>9v"?Yv"?=vbFyvDvOrEv>1YQ 5e4]떊?Q 9e4]c)]QBYaym9?Q Im?]̢CI]:i]:];4yu Bɮu0AulEDNOT Ignoring new targets: 95.56 m.hh*h"h hgfffdddjdZd gC@|Bɢc=) /ti)3-= i i}<%$I!I9YYaaYbE [4jEU4rEij0E] E]E].EY"E]%;*E]8;VE]ـ4ZEYam@am@am@am@i@i @i@m4@qԑԱ ^A B >B B IB {BB B B B ~;B (5EA I I O >,?AN?N2r?Nt=ٱNj VAHRS rotation from veh to nav: [[-0.173242,-0.971887,-0.159447],[0.980537,-0.185388,0.064634],[-0.092376,-0.145147,0.985088]]NH ,ƿ hĿ `?̺ǿ׋?@,¿ׅ?iN?IN];N‘CYn{BynIiMb@Mb@Mb@ 9Fx?X9v~jtxYK?yĻA@ ) AYAbDVDy % (=ٔQ:Q->9Y=bFyD:RE>!Q 5-4%疊?Q 9-4%Z)%QBY5K?Q E5:y5Z?Q I5?%CI%e ;i% ;%C4y9ɮ=!1A9DNOT Ignoring new targets: 95.56 m.hh*h"h hgfff|BdddjdZd?C@|BɢY=) ei)~=ii[<9IIaa@a @a@e/@aԑE EE+E"E;*EB;VE [4ZEBE=a%2E=a%JEF,j1?A4<ɰ4<2^?2I?2!=ٱ2 :AHRS rotation from veh to nav: [[-0.172043,-0.972555,-0.156644],[0.980772,-0.183981,0.065097],[-0.092130,-0.142433,0.985507]]2Hƿ ,@ Ŀ{b?ǿ-? ѕ@?;¿G?i2^?I2];2CPYr{ByvI bDVD!y%2Ǽ%%[=ٔ%.Q-%>9)Y)=-bFy-D5WE5>1Q 5E45F䖊?Q 9E45hR)5QBYAyE2?Q IE?5"CI5&;i5:5[J4yQɮUF1AQ}DNOT Ignoring new targets: 95.56 m.hyhy*hy"hy hgfffdddjdZd`,C@颽|Bɢ8M=) ʍi);=i+i[<-KII@ @@@^A0:DAfAzAgA! A) E5  E5 E5 *E1 "E5 ;*E5 J;VE5 (N4ZE1 a= @a= @a= @a= @II IY Oe >',K?AFlW?FB?Fkλ=ٱFC VAHRS rotation from veh to nav: [[-0.171829,-0.972789,-0.155421],[0.980861,-0.183608,0.064801],[-0.091574,-0.141311,0.985721]]FH`|ſ`!ÿ`7c?tǿƖ?bq~¿ ?iFlW?IF];F‘CYb{BybI|iMb@Mb@Mb@ 9 rh?QQYCK?yuuA@ xA)p AYzAbDVDܲy輼%>=ٔQ->9Y=bFyDH E> Q 54 ߖ?Q 94 I) QBY-VK?Q E-:y5?Q I=? NCI ;i :; Q4yMBɮM1AUcEDNOT Ignoring new targets: 95.56 m.hh*h"h hgfff|Bddd jd Zd  5D@=|BɢETS=)A E3iA)E=AIiMQiQU0LB]%CB]IB]{BB] =BYBYB]X~;B]4EB%CB%CBB =B =CĀ5@ @@@ Qߡߥ%=^A- NJNԁ A] .AIa Iq O >G,e?A2^?2I?2=ٱ2 :AHRS rotation from veh to nav: [[-0.172056,-0.972307,-0.158162],[0.980877,-0.183926,0.063645],[-0.090973,-0.144187,0.985360]]2H`ƿ $>ĿYc?`ǿ`K?@J`t¿`?i2^?I2];0Y^{BybIbDjVDjNEr ErEr.Ep"ErR;*ErbC;VErـ4ZEpBEr=az2Er=azJEr 9 ?Y  ?= bFy D }:E >Q 54-ܖ?Q 9%4A)kQBY!y%?Q I%?sCI+;ij;fX4y)ɮ-T2A1YDNOT Ignoring new targets: 95.56 m.hh!*h!"h) h)g)f)f1f1dqdqdyjdyZd}sfD@|BɢA=) Ǣi)3=igli̛<"JII@ @@/@ԑԱ^AA ؟A I I O >(,?A2w?2c?2Cи=ٱ2 >AHRS rotation from veh to nav: [[-0.172824,-0.971733,-0.160832],[0.980821,-0.184729,0.062165],[-0.090119,-0.147004,0.985022]]2Hƿo&Ŀb?5ǿ#ԯ?``¿M?i2w?I2^];2đCYJ|{ByNIZAAXbD^VD^βyf]%fM=ٔj Q-j>9j"?Yj"?=jbFyj Dn!:En>pQ 5v4r ؖ?Q 9v4r9)rHQBYtyz?Q Iz?rCIr;ir;rb_4yɮ2Aԩ5DNOT Ignoring new targets: 95.56 m.h9h9*ha"ha higqfqffdddjdZd@D@e|Bɢe?=)a mii)m.=iiim8iquB;VE(N4ZEa@a@a@a@59@1 @1@50@1^AU GgLA] >A] >B= >B9 B= IB= j{BB= =B9 B9 B= F~;B= 4E1 A .AI I O >,N?A>?>u?>=ٱ>Z FAHRS rotation from veh to nav: [[-0.173387,-0.971421,-0.162106],[0.980753,-0.185316,0.061500],[-0.089783,-0.148323,0.984855]]>H`1ƿ@ĿSb?kǿ|?`=¿?i>?I>];9U ?YU ?=]bFy])D]:E]>aQ 5m4eӖ?Q 9m4e 1)e%QBYuL?Q Eu:yul?Q Iu?eǣCIe:iej;ef4yyɮ}03ADNOT Ignoring new targets: 95.56 m.hh*h"h hgfff|BdddjdZdD@|Bɢ,1=) i)k =i iȚ<:II9@ @@H3@AE EE(E"E;*E5;VEc44ZEBE# =a 2E# =a JE8Թ 1,$?A2?2?2s=ٱ22H :AHRS rotation from veh to nav: [[-0.173907,-0.971284,-0.162369],[0.980646,-0.185869,0.061529],[-0.089941,-0.148527,0.984810]]2H Bƿ Ŀ ta?@ǿ@?gÿ?i2?I2];2ÑCYBE{ByBIbDJVDJ02yRb%VV=ٔV9Q-V>9Z"?YZ"?=ZbFyZ1DZ:EZ>Q 54|ϖ?Q 94()QBY!y%}?Q I%?CI;i;m4y-Bɮ-3A-XEUDNOT Ignoring new targets: 95.56 m.hQhQ*hY"hY hYgYfYfafadadadijdiZdm#D@颕|Bɢrg)=) e¾i){=顡iCᮼiW<3IIԑi@q @q@uO3@q@}@}@}@}Ae .AI I O >E  E E +E "E ;*E UB;VE [4ZE a @a @a @a @! ,;?AɰN?N?N=ٱN ZAHRS rotation from veh to nav: [[-0.175783,-0.970652,-0.164116],[0.980307,-0.187838,0.060954],[-0.089992,-0.150169,0.984556]]NHƿ@ſ^?  ȿX5? 8ÿ{?iN?IN];NđCYb{BybmIiMb@Mb@Mb@ 9 rh?y&1YCK?y`eAj@ A)AY3 AbDVDy%8=ٔ8Q->9 ?Y ?=bFy9D;E>Q 54|ʖ?Q 94 )PBYKK?Q E:yn?Q I?CI ;i ; u4y ɮ 4A 5DNOT Ignoring new targets: 95.56 m.h1h1*h9"h9 h9g9f9fAfE|BdAdAdAjdIZdM`z4E@u|Bɢu&=)y }Ծiy)}z=yyiziq֙<fIII)AAB>BBqIB"{BB =BBB$~;B4E)@) @)@-/@)A9zA=dA!A}؟AIIO^> = g>= CQ gG liA {9 liAY ]eAD,?A2 ?2 ?2Z=ٱ2' >AHRS rotation from veh to nav: [[-0.177875,-0.969885,-0.166384],[0.979883,-0.190120,0.060695],[-0.090501,-0.152240,0.984191]]2HƿL Lſ 3[?@Uȿ@y? +|ÿ~~?i2 ?I2];2CYF {ByFdI HHbDNVDN:yV%V_=ٔZͶ:Q-Z>9Z"?YZ"?=^bFEb EbEb*E`"Eb;*EbA;VEb(N4ZE`BEbe=af2Ebe=ajJEbpQ 5v4r'Ɩ?Q 9v4r)rPBYtyv?Q Iz?r@CIrp:ir:r{4y|ɮ~4A|%DNOT Ignoring new targets: 95.56 m.h!h!*h)"h) h)g)f)f1f1d1d1d9jd9Zd=`cE@e|Bɢe=)m= m?ھii)u3=yyi0i15)n<5bI1I9Q9@ @@/@iIAYIayIyOZ>ԡ k+,?A@YzByXIbD5VD5y3%<=ٔQ->9Y=bFyJDE>Q 54?Q 94)PBY yQ I?oCI;i;ǃ4y='Bɮ=X5AEOEDNOT Ignoring new targets: 95.56 m.ԩD=D<E EE)E"E*EUB;VEFA4ZEa@a@a@a@hh *h "h  h g f ffdddjdZdE@颅|Bɢ%=) ]i)|1=顉ii<II}9@y @y@y@yA.AIIO>B B &CB EIB zBB =B B B };B 4E uU,?A2U?2r?2a=ٱ2 :AHRS rotation from veh to nav: [[-0.182364,-0.969961,-0.160996],[0.979022,-0.194267,0.061450],[-0.090881,-0.146413,0.985040]]2HWǿ Ŀ%T?@ȿnv?@C¿r?i2U?I2];2đClY~zBy~KIiMb@Mb@Mb@ 9K7?Mbp?MbYI?y;~A )?AY\ AAAbDVD0yK%G=ٔu:Q->9 ?Y ?=bFyRDE<E>Q 54?Q 94e)vPBYI?Q E:y?Q I?CI ;iC ;H4yɮ5A-DNOT Ignoring new targets: 95.56 m.h)h)*h)"h) h)g)f1f1f=|Bd9d9d9jd9ZdE`{E@ |Bɢ 7 =)  i))5`=11i51i9=3<=uI9IA 9@ @@@E EE*E"E;*EGA;VE(N4ZEBE=a2E=aJE:A>i A ؟AI) I9 OM > ,k4?A2 ?2&?2 W=ٱ2 :AHRS rotation from veh to nav: [[-0.183819,-0.970007,-0.159052],[0.978752,-0.195577,0.061602],[-0.090861,-0.144348,0.985346]]2H`dǿ`K [ĿQ?ɿC?B`z¿`?i2 ?I2];2‘CYBzByB$IIF4=)FbDNVDNyV,%V_=ٔVcQ-V>9Z"?YZ"?=ZbFyZYDZ;E^>`Q 5f4b?Q 9f4b)bXPBYdyfH?Q If?bCIb:ib:b4ylɮn6AlDNOT Ignoring new targets: 95.56 m.hh*h"h  h g f f fdddjdZdUE@A颥|Bɢ0<) i)É=顩i6i_:<XtDIIim@ @@@ԙbEu(N4jEuɼP4rEuɖ/E  E E )E "E (;*E 9@;VE FA4ZE a5 @a5 @a5 @a5 @ ^A 0:Di9 I9 A-.AI1IAOU>Ff,sR?A60?6?6*=ٱ6 BAHRS rotation from veh to nav: [[-0.186011,-0.970274,-0.154817],[0.978414,-0.197352,0.061298],[-0.090029,-0.140073,0.986040]]6H`4ǿ | ÿ+O?Bɿ mb?`% ?i60?I6];6ÑCYFzByFIi]Mb@Mb@Mb@YYYY Y9]uV?~jtx~jtxY]rH?y]Ļ]Ļ]A]@ ]GA)]AYY]( AbDuVDuβy£%$=ٔ@ܺQ->9 ?B>BBIBzBB =BBDB};B4EY ?=bFycDx;E>Q 54?Q 94)2PBYuH?Q E:y?Q I?CIa:i:q4yɮ6ADNOT Ignoring new targets: 95.56 m.hh*h"h hgff f r|Bd d djdZd>F@=|Bɢ= =)A E:iA)Eݸ=AAiM良iIUӗ;VE t4ZE BE M=a 2E M=a JE R,Jl?Ab;ɰb;iC?.?=ٱ>~ -AHRS rotation from veh to nav: [[-0.186563,-0.970165,-0.154836],[0.978314,-0.197891,0.061157],[-0.089973,-0.140068,0.986045]]HLǿ `ÿ ZN? {TɿO?x@?iiC?Iy];‘CY=zBy=I Ep9aYa=mbFymkDm:Em>Q 54嬖?Q 94)PBYy?Q I?CI#;i_:4y4Bɮm7AEEDNOT Ignoring new targets: 95.56 m.hh*h"h hgff!f!d!d!d)jd)Zd-rF@U|Bɢ]X<)Y ]iY)]yև=aaie0RiamTv!,$?A0E EE+E"E՘;*E3;VE [4ZEa@a@a@a@Y-ZzBy5I 11iMb@Mb@Mb@ 9Q?9 Y=bFytDE>)Q 554-?Q 954-)-OBY=H?Q E=:y=?Q IE?-ACI-%L;i-f;-a4yQɮU78AQԉUDNOT Ignoring new targets: 95.56 m.hQhQ*hQ"hQ hQgYfYfYfe|BdadadajdaZdmF@颕|Bɢ <) 4i)̶=顙ihiw<ؐIIu9@q @q@uw2@qԱB>B(CBIBMzBB =B>DBDB8};Bp4EBe&CBe&CBeǔCBe =Be =CeT5A؟AIIO> ',?A2 ?2(j?2:=ٱ2& :AHRS rotation from veh to nav: [[-0.188412,-0.969697,-0.155524],[0.978331,-0.199165,0.056583],[-0.085844,-0.141493,0.986210]]2Hȿ2ÿ}N?`9~ɿ?m¿?i2 ?I24];2ÑC\YzGzByzIbD VD :y^%o=ٔFQ-%?9%"?Y%"?=%bFy%{D-k;E-?1Q 5=45ģ?Q 9=45ݼ)5OBY9y=?Q IE?5bCI5@;i5;5K4yIɮM8AIuDNOT Ignoring new targets: 95.56 m.hqhq*hq"hy hygyfyffdddjdZd>F@颵|Bɢމ<) 4i)c=项i( i<.:IIm9@i @q@u/@qE EEE"E;*EUB;VEZEBE!A -,W̹?A2?2l?2 =ٱ2 :AHRS rotation from veh to nav: [[-0.188529,-0.969611,-0.155918],[0.978515,-0.198957,0.054084],[-0.083462,-0.142371,0.986288]]2H!ȿ@ÿO?nwɿ밫?]89¿`?i2?I2'];0YB%zByBIbDJVDJ:2yR%VR=ٔVTɻQ-V>9TYX=ZbFyZDZ.Y9EZ>\Q 5b4^9?Q 9f4^ռ)^OBYdyf?Q If?^CI^:i^:^4yj5Bɮj9AlDNOT Ignoring new targets: 95.56 m.hh*h"h hg f f f dddjdZd G@Y颽|Bɢ><) i)=i ii1<S9IIi@i @q@q@qԁ^Ayb]A>A>E~ EqEE"E;*E*;VEZEa@a@a@a@A I I O > 4,?A2?26?2,*=ٱ2R :AHRS rotation from veh to nav: [[-0.189154,-0.969187,-0.157792],[0.978637,-0.199250,0.050681],[-0.080559,-0.144834,0.986171]]2H 46ȿ`2Ŀ P?ɿ?@¿?i2?I27];2CYRzByRIIV=)V;i-Mb@Mb@Mb@)))) )9- rh?{Gz{GztY-CK?y-ף)A9A9BABABEIBEzBBE =BABABE|;BE@4E)-xA -tA)-A)Y-=AbDeVDeyu%u>=ԹٔջQ->9Y=bFyD:E> Q 54 U?Q 954 ̼) OBY5UK?Q E=:y=.?Q I=? CI );i ; 演4yE=BɮE9AE;EDNOT Ignoring new targets: 95.56 m.hh*h"h hgfffr|BdddjdZdDG@=|BɢE쭼<)A E!iA)Eă=IIiMiQUCh:,ލ?AR?R?Re=ٱRs ZAHRS rotation from veh to nav: [[-0.190118,-0.968498,-0.160831],[0.978671,-0.199946,0.047158],[-0.077830,-0.148435,0.985855]]RH`UȿĿFQ?֗ɿ%?쳿¿ ?iR?IR3$];RCYbyBybIbDjVDjܲyr{%rT=ٔvQ-v>9tYt=vbFyvDz';Ez>|Q 54~A?Q 94~ż)~OBY y M?Q I ?~ܥCI~N:i~:~]Ô4yɮ:AEDNOT Ignoring new targets: 95.56 m.hAhA*hA"hA hAgAfAfIfIdIdIdQjdQZdU@qG@}|BɢHwn<) (i)Ԃ=顉i=i<5:II @  @ @0@9^A5yb]:iAa Ii Iy O >ԑ A,]?A8ɰ:49Y=bFyDp:E>Q 54w?Q 9 4)hOBY K?Q E :y ?Q I ?CIa%B='CB=IB=yBB= =B9B9B=|;B=,4E^A ] ;A fAzA } G hA iu9 hAY +_AIY Ii O >H,#?A2#?2??2–=ٱ2{ :AHRS rotation from veh to nav: [[-0.191618,-0.967459,-0.165242],[0.978710,-0.200968,0.041695],[-0.073547,-0.153734,0.985371]]2Hȿ@m`&ſQ?@RɿY?Ӳÿ`)?i2#?I2?];2‘CYByByBI DDbDNVDNyVN%Vl=ٔV;ȻQ-V?9XYX=ZbFyZD^@&;E^?`Q 5f4bb?Q 9f4bԳ)bTOBYdyf?Q Ij?b1CIbp:ibF:bҔ4ynABɮnS;AlDNOT Ignoring new targets: 95.56 m.hh*h "h  h g f ffdddjdZd@1G@E|BɢM;)I M8iI)M|=IIiUyiQ]x<]b3;IYIYԑ@ @@1@Eu EqEu+Eq"Euҝ;*EqVEu [4ZEqBEu=a2Eu=aJEu5 N,Ƣ=?A:?:2?:=ٱ:( BAHRS rotation from veh to nav: [[-0.192419,-0.967246,-0.165558],[0.978691,-0.201479,0.039626],[-0.071685,-0.154406,0.985404]]:H`2ȿ`1ſoQ? ɿ`I? Y`ÿ m?i:?I:j6];:CY^yBybIbDjVDjN2yr%rG=ٔrQ-v>9tYt=vbFyvDz:Ez>|Q 54~?Q 94~h)~=OBYy?Q I ?~[CI~&;i~e;~8ٔ4yIBɮ;A1E=DNOT Ignoring new targets: 95.56 m.h9hA*hA"hA hAgAfAfIfIdIdIdQjdQZdUH@}|Bɢ(;<) ;i)~=顁i+hig8<jcY;III@Q @Q@U4@Q)DzD?AE EEE"E;*E*5;VEZEa@a@a@a@^A0;I9IIQOe>y B <A <B >B (CB IB yBB =B B B |;B %4EU,~W?A2?2 ?2u=ٱ2 :AHRS rotation from veh to nav: [[-0.193455,-0.967316,-0.163935],[0.978636,-0.202111,0.037722],[-0.069622,-0.153135,0.985750]]2H ȿ@A`Ŀ P?`ɿCP?ұ@ÿC?i2?I2T];0YByByByIimMb@Mb@Mb@iiii i9mv/?{Gzt?YmxI?ym̼mף;m!AmA m- A)mAiYmAyybDVDy)%?=ٔǞQ->9Y=bFyD;E>Q 54䂖?Q 94))OBYI?Q E:y$?Q I?CI* ;i ;4yɮi1)={=99i=ÕiAEAu>ԩIIO% >E w E E (E "E ؓ;*E z1;VE c44ZE BE :9dYd=fbFyfDj f;Ej>lQ 5v4n~?Q 9v4n)nOBYtyzO?Q Iz?nCIn:in:nE4y|ɮ~i15”<5!;I9I9Ա9@ @@/@^A;IaIqO> A b,A?AbE] [4jE]wX4rE]8/E*~ E*kE*,E("E*;*E*&;VE*g4ZE(aF@aF@aF@aJ@2?Ml?=ٱme AHRS rotation from veh to nav: [[-0.196415,-0.967682,-0.158152],[0.978321,-0.204207,0.034458],[-0.065640,-0.147956,0.986813]]H $$ɿ@@W>Ŀ@hN?`p#ʿy?Ͱ7¿?i2?I!];‘CYbyBy]IiuMb@Mb@Mb@qqqq q9uq= ףp?~jtMb`?YuK?yuļu;uAq u A)uAqYuQAbDVDy˽%0=ٔƇQ->9Y=bFyDch;E>Q 54y?Q 94n)OBYK?Q E:y?Q I?ۦCI:i:f4yɮBBdIBmyBB =BBB|;B+4E9^Aϩ;a A I! I1 O= >h,?Aɰ; 6?6Ȥ?6=ٱ6 >AHRS rotation from veh to nav: [[-0.198127,-0.967518,-0.157021],[0.978105,-0.205563,0.032465],[-0.063688,-0.147151,0.987062]]6H5\ɿAĿ@L?@OʿE?`M@¿ ?i6?I68];6CYF>yByFGI N4o,?A2!?29XYX=^bFy^D^;E^>`Q 5f4b q?Q 9f4b)bNBYhyj?Q Ij?b'CIbH:ib:bg4ylɮr>Ap DNOT Ignoring new targets: 95.56 m.h h *h "h  h g fffdddjdZdnI@M}|BɢM)I MWiI)Uq=QQiUvi?<\A A AAB >B B EIB ;yBB B B B |;B ;4EBe(CBe(CBe˓CBe˾ =Be˾ =CeˢT5u, ?A|Y=yBy=%IiMb@Mb@Mb@ 9V-?y&1~jthYM?y`eDA  A)AYAbDVDya%7=ٔQ->9Y=bFyD E >Q 54k?Q 94xQ =tI)NBYM?Q E:y?Q I%?UCI;i;44y-VBɮ->A-'EUDNOT Ignoring new targets: 95.56 m.hQhQ*hY"hY hYgYfYfafe|BdadadajdiZdm LI@颕y|Bɢ=:) \i)mn=顙iKi<|,Ǡ?A2T?2??2Wn=ٱ2Z :AHRS rotation from veh to nav: [[-0.202822,-0.967102,-0.153548],[0.977487,-0.209272,0.026908],[-0.058157,-0.144634,0.987775]]2H@ɿyÿ@G? kʿ?@ƭ^¿ٛ?i2T?I2;];2CYrxByrI@AbD%VD%y5n%5X=ٔ5"Q-5>9= ?Y= ?==bFy=DE2;EE>IQ 5U4Mf?Q 9U4Mq)MNBYQyU?Q IU?YM|CIM+;iMy-;M 4yaɮm>AiDNOT Ignoring new targets: 95.56 m.hh*h"h hgfffdddjdZd}I@v|BɢȔ) ai)k=iMiQ<AA>ԹA I I! O= > ,* ?AEN ENpELEL"EN;*EN);VELZELab@ab@ab@ab@Bo?Ա^Z?j=ٱ AHRS rotation from veh to nav: [[-0.203623,-0.966991,-0.153190],[0.977373,-0.209924,0.025973],[-0.057274,-0.144435,0.987855]]H Qʿ ÿ F?ʿ?@S|¿?iBo?I%L];CYxByIIp<)i]Mb@Mb@Mb@YYYY Y9] rh?I +Y]CK?y]94]] A]A ]Z A)]SAYY]AbDuVDu2yl%6=ٔDQ->9Y=bFyDv:E> Q 54 `?Q 94 g) NBYHK?Q E:y?Q I? CI :i ': 4y%^Bɮ%?A%EMDNOT Ignoring new targets: 95.56 m.hIhQ*hQ"hQ hQgQfQfYf]|BdYdYdYjdaZdeBIBMIBMxBBM =BIBIBM|;BMC4E ^AE /C<1 A} ؟AI I O >$,W&?A2B?2]m?2pd=ٱ2Ӈ :AHRS rotation from veh to nav: [[-0.204207,-0.967378,-0.149933],[0.977339,-0.210192,0.025044],[-0.055742,-0.141422,0.988379]]2Hv#ʿ1ÿ ]F?ʿ5?7¿̠?i2B?I2"];2CYBxByBIbDNVDNβyVB%Vo=ٔVےQ-V?9Z"?YZ"?=ZbFyZDZ:E^?`Q 5f4b\?Q 9f4b`)bNBYdyf?Q If?b̧CIb:ib:b4ylɮn @AlDNOT Ignoring new targets: 95.56 m.hh*h"h h g f f fdddjdZd,I@En|BɢE<)E McniI)Mԙ  ,6@?Aɰp;:ހ?:k?:O^=ٱ:Z BAHRS rotation from veh to nav: [[-0.204181,-0.967597,-0.148546],[0.977422,-0.209935,0.023972],[-0.054381,-0.140297,0.988615]]:H`"ʿ@ ÿ G?`"ʿ :?`׫@C?i:ހ?I:];:CYJxByJIbDRVDR1yZi%ZI=ٔ^C\Q-^>9^ ?Yb ?=bbFybDb;۸Eb>dQ 5j4fW?Q 9j4fX)fNBYlyn?Q In?fCIf;ifL;f4ypɮr@At DNOT Ignoring new targets: 95.56 m.hh*h"h hgfffdd!d!jd!Zd%!J@Mj|BɢUHf9)Q U}uiQ)]b=YYi]PiaeB9 A= 4=BE >BE )CBE IBE xBBA BA BE DBE |;BE 74E M6,4Z?A2?2n?2W=ٱ2a :AHRS rotation from veh to nav: [[-0.204264,-0.967630,-0.148217],[0.977500,-0.209757,0.022257],[-0.052626,-0.140336,0.988704]]2HQ%ʿ@¿G?`Nʿʖ?@`w?i2?I2+];2CYfxByfI hhiUMb@Mb@Mb@QQQQ Q9UK7A?~jtxMbP?YU B?yUĻU:UAQ U+ A)UAQYUAbDmVDmf?y}(%}>=ٔ Q->9Y=bFyD9E>Q 54%R?Q 94%P)qNBY B?Q E:ys?Q I?CI;i ;9'4yɮ@ADNOT Ignoring new targets: 95.56 m.hh*h"h hgfff{BdddjdZd`MJ@e|Bɢ17) xi)%+_=!!i%h6i)-<-8MP`,s?A2g?2R?21Q=ٱ28} >AHRS rotation from veh to nav: [[-0.203469,-0.967248,-0.151762],[0.977750,-0.208818,0.020015],[-0.051050,-0.144313,0.988214]]2H@C ʿ lÿI?@ʿ~?@H#x¿s?i2g?I2!];2CYFixByFIbDNVDNyZ%ZX=ٔ^Q-^>9\Y\=bbFybDbEb>dQ 5j4fgM?Q 9j4fH)fcNBYlynX?Q In?fCCIf;if;f-4yrjBɮrAArE DNOT Ignoring new targets: 95.56 m.h h*h"h hgfffdd!d!jd!Zd%}J@`|BɢЩ) }i)[=ixyi<6@A >E t E ]E ,E "E {;*E ;VE g4ZE a @a @a @a @I I) Ou >ڣ,o+?AXX F? 1? J=ٱ > AHRS rotation from veh to nav: [[-0.202502,-0.967018,-0.154495],[0.978039,-0.207659,0.017830],[-0.049324,-0.147492,0.987833]] Hɿ ~ÿ L?ʿA?@¿@S?i F?I A]; CY-AxBy-IiMb@Mb@Mb@ 9ʡE?~jth?Mb`Y=?yD;A1A  A)YpAAAbD VD:2yۧ%*=ٔlQ->9Y=bFyDy E>Q 54) ,[?A2+)?2F?2C=ٱ2 :AHRS rotation from veh to nav: [[-0.201634,-0.966767,-0.157178],[0.978303,-0.206586,0.015656],[-0.047606,-0.150611,0.987446]]2H'ɿ gĿBN?fqʿ`?_ 7Gÿ(?i2+)?I2*];2CYB#xByBIIF=)Fp=HHbDNVDNJyVB%Va=ٔV4Q-Z>9XYX=ZbFyZ D^B#Eb>hQ 5r4jB?Q 9v4j8)jANBYxyz?Q Iz?jCIj1;ij(;j<4y ɮ BA E\ EWE)E"E;*Ej;VEFA4ZEBE<cg&H,$b?A6?6?6;=ٱ6 >AHRS rotation from veh to nav: [[-0.200207,-0.966546,-0.160330],[0.978684,-0.204937,0.013359],[-0.045770,-0.154238,0.986973]]6H@^ɿ@Ŀ@aQ? ^;ʿ@\?`&oÿH?i6?I6%R];6CYFxByFIbDRVDRyV1%Z>=ٔ~3Q->9Y=bFy)D ]\E >Q 54D4y)ɮ-CA)UDNOT Ignoring new targets: 95.56 m.hQhY*hY"hY hYgYfYfafadadadijdiZdm!K@颕Q|Bɢxż)  i)#Q=顙i {i]<)  A A @AB >B B IB 2xBB B B B |;B [4E1 n,,?A2U?2p?2y3=ٱ2J! :AHRS rotation from veh to nav: [[-0.198627,-0.966429,-0.162978],[0.979094,-0.203104,0.011114],[-0.043842,-0.157364,0.986567]]2Hlɿ@xĿT?Rɿ†?wr|$Ŀ?i2U?I2L8];2CY^wBy^{Ii}Mb@Mb@Mb@yyyy y9}Q?~jtMb`Y}(9Y=bFy1D"|E>Q 5448?Q 94G()#NBY/i I 瘽,?A 6?6l?6|W+=ٱ6# >AHRS rotation from veh to nav: [[-0.196681,-0.966723,-0.163597],[0.979575,-0.200864,0.009267],[-0.041819,-0.158433,0.986484]]6H@,ɿdĿ`X?ɿ? ViGĿ`F?i6?I6F1];4Y^wBy^|I ``bDjVDj:yr_;%rW=ٔrQ-v>9tYt=vbFyv9DzEz>|Q 54~3?Q 94~!)~NBYy M?Q I ?~CI~:i~:~HR4yɮCA=DNOT Ignoring new targets: 95.56 m.h9h9*hA"hA hAgAfAfIfIdIdIdIjdQZdU~K@F|BɢJ) Li)J=ifti  1< ,;I Iq@ @@2@Ա^A; AE ؟AIQ Em  Em zEi Ei "Em ;*Em .;VEi ZEi au @au @au @au @Iy O >, ?AF??F*?F<_"=ٱFZM%L RAHRS rotation from veh to nav: [[-0.194725,-0.966834,-0.165269],[0.980057,-0.198593,0.007044],[-0.039631,-0.160601,0.986223]]FHȿ N'ſ \?zkɿ|? J`Ŀ@$?iF??IFP];FCYZwByZiIi=Mb@Mb@Mb@9999 99=On?Mbp~jth?Y=8?y==D;=$A9 =A)=$A9Y=AbDUVDUk1ye6%eB=ٔekQ-e>9m"?Ym"?=mbFymBDuEu>yQ 54}/?Q 94}8)} NBY8?Q E:y?Q I?}/CI}:i}H:}Y4ywBɮjDA EDNOT Ignoring new targets: 95.56 m.hh*h"h hgfIfQfU{BdQdQdQjdYZd] K@颥@|Bɢ]μ)B>BB}IBwBB =BBB9};B}4EBu)CBu)CBqBu½ =Bu½ =Cu^4 qi)E=iepi<C@;II)@ @@/@@=@=^Aϩ;! A I! I1 O= >z,,?A$$Z?Z?Z=ٱZ6& jAHRS rotation from veh to nav: [[-0.192868,-0.967146,-0.165624],[0.980525,-0.196338,0.004683],[-0.037047,-0.161495,0.986178]]ZHȿ(3ſ`v`?@!ɿ).s?@ޫĿĎ?iZ?IZ9];XYrwByrgItv@A|bDzVDzJy Mػ% P=ٔ ׻Q- >9Y=bFE EE,E"EF;*E4;VEg4ZEBE =a-2E =a-JEڗ9Q 5E4=*?Q 9E4=)=NBYIyMN?Q IM?=TCI=d:i=[:=`4yQɮ]tDAYDNOT Ignoring new targets: 95.56 m.hh*h"h hgfffdddjdZd'K@:|Bɢ) i)@B=iXpmiE<B+0;IIi@i @i@m/@i!Q^Avт;A I I O >y 6,0F?A6'?6??6[ =ٱ6h& >AHRS rotation from veh to nav: [[-0.190678,-0.967597,-0.165523],[0.981049,-0.193744,0.002427],[-0.034417,-0.161923,0.986203]]6Hhȿ`/ſ@d?ȿc?@'@Ŀ?i6'?I6]];6CYFwByFZIIH)J=bDRVDR02yVX%ZP=ٔZۻQ-Z>9\Y\=^bFy^RDbEb>dQ 5j4f.&?Q 9j4f )fMBYhyj?Q Ij?fxCIf:if:fZg4yrBɮrEArEYB*** querying acoustic contact ***i iDNOT Ignoring new targets: 95.56 m.hh*h"h hgfffdddjdZd`>%L@4|Bɢ*) i):>=iiiX<R:II9@ @@/@EU EUEU(EQ"EUI;*EU8;VEUc44ZEQa]@a]@a]@ae@ԉԱiIA2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.^A2;BA<B>B*CBdIBwBB =BBB};B4EA% .AI) I9 OM > ,mt`?A2?2j?2z=ٱ2$' :AHRS rotation from veh to nav: [[-0.189030,-0.967937,-0.165423],[0.981470,-0.191614,-0.000347],[-0.031362,-0.162423,0.986223]]2H$2ȿW,ſ4h?̆ȿط6`FĿ"?i2?I2I];2CYBwByBYIi Mb@Mb@Mb@     9 rh|?I +Mb?Y ;?y 9 < $A A ?A) SA Y (AbD%VD%0y5%5B=ٔ5JQ-5>9= ?Y= ?==bFy=ZDEaEE>IQ 5U4M!?Q 9U4M)MMBYU;?Q EU:yU?ԹQ I?MCIMX EBDAT read: Tx time:04:09:00.6811 M$Ping request sent.M checking for new query: numPingsReceived=0, elapsed TxPingTime=0.2497039 .,HPz?A4<ɰ4<2P?2;?2F<ٱ2jX& :AHRS rotation from veh to nav: [[-0.187642,-0.968446,-0.164019],[0.981842,-0.189669,-0.003353],[-0.027862,-0.161670,0.986451]]2Hȿ Ŀ@k?@Gȿxk· Ŀ?i2P?I2@];2CYBwByB^I Jp9XYX=ZbFy^bD^rE^>`Q 5f4b!?Q 9f4b9)bMBYhyj?Q Ij?béCIb:ib:bvu4ylɮnDAp DNOT Ignoring new targets: 95.56 m.h h *h "h  h g f ffdddjdZd@6L@M(|BɢM)I MiI)U 7=QQiUcidd<ںII9@ @@%1@AEchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.501838^A"qI I O- >EM Y EM [EM -EI "EM =;*EM ;VEM t4ZEI aU @aU @aU @aU @ԡ ,u<?Afw#?f?f9<ٱfu& nAHRS rotation from veh to nav: [[-0.186308,-0.968766,-0.163650],[0.982184,-0.187812,-0.006373],[-0.024561,-0.161922,0.986498]]fHǿ"@yĿ n? : ȿz &عĿ d?ifw#?If`V];fCYvwByvWI xxiuMb@Mb@Mb@qqqq q9u/$?V-~jt?Yu9Y=bFyjDME>BYB])CB]QIB]wBB] =BYBYB]*~;B]4EiQ 54?Q 94)MBY h,?A6&?6>?6 <ٱ6M' BAHRS rotation from veh to nav: [[-0.185084,-0.968919,-0.164134],[0.982493,-0.186052,-0.009592],[-0.021244,-0.163036,0.986391]]6HҰǿ`bXſ`p?ǿ䤃 @\Ŀ?i6&?I6M];4YJwByJTIbDRVDRyZcQ%Z\=ٔ^/Q-^>9\Y`=bbFybrDb^Eb>dQ 5j4f?Q 9j4f)fMBYlynw?EB E=E)E"Ew;*E;VEFA4ZEBEAU ?IIO>) ] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509712,^?A 2?2?2jr<ٱ2J( >AHRS rotation from veh to nav: [[-0.184240,-0.969089,-0.164078],[0.982717,-0.184681,-0.012697],[-0.017998,-0.163582,0.986366]]2H,ǿ`ſir?ǿ n?ĿN?i2?I2k];2CYFwByF_IbDNVDN1yV7/=%VJ=ٔVQ-Z>9XYX=ZbFy^zD^? E^>`Q 5f4b?Q 9f4b)bMBYdyf[?Q Ij?b6CIb@;ib;b4ylɮn2EAlDNOT Ignoring new targets: 95.56 m.hh*h "h  h g f ffdddjdZd y%M@|Bɢ) ≿i)l,=iZi -=R<5?bI1I9AEF E:E*E"E>{;*E$ ;VE(N4ZEa@a@a@a@9@9 @A@E/@Aqchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.761826^AyBM>BIBIBIBIBIBIBMO~;BM5EIiIyO>ԙ [ ,?A2`?2x?2׋y<ٱ2X& :AHRS rotation from veh to nav: [[-0.183851,-0.969556,-0.161741],[0.982836,-0.183873,-0.014965],[-0.015231,-0.161716,0.986720]]2H pǿĿds?&ǿ`𥎿+1Ŀ@5?i2`?I2_\];2C)J>iMb@Mb@Mb@ 9}?5^I?:v:v?YMB?yԼ<$AA A)YQAbD-VD-y=駻%=B=ٔ=>׻Q-=>9AYA=EbFyEDM{EM>QQ 5]4U?Q 9]4Uۻ)UNBY]B?Q E]:y]?Q Ie?U_CIU ;iU& ;U4ymBɮm\EAiDNOT Ignoring new targets: 95.56 m.hh*h"h hgfff{Bd!d!d!jd!Zd%m]M@颕 |Bɢ) Gi)K(=顙i2Xi<⑞IIchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.013842ԩA@A @I@M/@IES EgE,E"E;*E$;VEg4ZEBE  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2657514,?AlYrwByrkIbDzVDzky%S=%-L=ٔ-Q-->91Y1=5bFy5D5E5>AQ 5E4E ?Q 9M4Eӻ)E NBYIyIQ IM?ECIE:iE:E4yQɮUEAYDNOT Ignoring new targets: 95.56 m.hh*h"h hgfffdddjdZdM@|Bɢs ) ۅi)j%=ijUi<II@ @@/@@fA@gA %checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5176819^AuSAzAfAIIO->bE [4jEY4rE/E- P E- =E- -E) "E- (;*E- ;VE- t4ZE) a= @a= @a= @a= @a I ,?A??o5<ٱ# AHRS rotation from veh to nav: [[-0.184327,-0.970004,-0.158477],[0.982802,-0.183725,-0.018572],[-0.011101,-0.159175,0.987188]]HǿF @HĿs?`Kǿ@@O@_Ŀ@ ?i?Ik];CY%wBy%iI1}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769806iMb@Mb@Mb@ 9|?5^?B*CBXIBwBB =BBDB\~;B5E%>=ٔQ->9Y=bFyD :E>!Q 5-4%?Q 9-4%ʻ)%NBY5N?Q E5:y5?Q I5?%CI% ;i% ;%4y=Bɮ=ZEAEEeDNOT Ignoring new targets: 95.56 m.hihi*hi"h hgfff{BdddjdZd`fM@E{BɢM)I M[iI)U!=QQiUQTSiim=- G ,M/?A2]?2u?2#<ٱ2{# :AHRS rotation from veh to nav: [[-0.184583,-0.970023,-0.158066],[0.982766,-0.183807,-0.019644],[-0.009999,-0.158967,0.987233]]2Hiǿm ~;Ŀr?`ǿpEz YĿ j?i2]?I2Y];2CYBwByByI DDbDNVDN:yVՍ=%Vb=ٔVJQ-V>9Z"?YZ"?=ZbFyZD^;=:E^>`Q 5f4by?Q 9f4b4û)bNBYdyf?Q If?bתCIb|:ib:bߦ4ylɮnDAErS ErCEr)Ep"Er;*Er;VErFA4ZEpBEpaz2EpazJErt! = checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525717T=,dI?A??q<ٱ# AHRS rotation from veh to nav: [[-0.185743,-0.969761,-0.158316],[0.982557,-0.184794,-0.020826],[-0.009060,-0.159423,0.987169]]Hmǿ@GCĿ`q?Uǿ@HS`!gĿ?i?I_];CYwByuIbDVD:2y:%4=ٔsQ->9Y=%bFy%D%*;E%>)Q 554-A?Q 954-)-)NBY9y=?Q I=?-CI-;i-;-ͮ4yAɮEEAAmDNOT Ignoring new targets: 95.56 m.hihi*hq"hq hqgqfqfyfydydydjdZd =.N@颭{Bɢ) Si)I=项i=NiV}<XIIEI EPE+E"E};*E;VE [4ZEa @a @a @a @i@i @i@m2@i DAT read: 04:09:03.3440 LVL= 32752, 31729, 32754, 29171, AGC= 72, IDX= 221,-0.38, 0.836, 1.928, 0.848, 0.387, PHS= 0.551, 1.586, 0.416, RAW= 336.0, -39.2, CAL= 335.9, -41.9, ROT= 174.1, 41.9 Ygot valid direction response: 04:09:03.3440 LVL= 32752, 31729, 32754, 29171, AGC= 72, IDX= 221,-0.38, 0.836, 1.928, 0.848, 0.387, PHS= 0.551, 1.586, 0.416, RAW= 336.0, -39.2, CAL= 335.9, -41.9, ROT= 174.1, 41.9 PDAT read: Bearing 116.8, 10.9 (Local) ~Local bearing/azimuth received: Bearing 116.8, 10.9 (Local) B>B+CBjIBwBB =BBDB~;B.5EB*CB*CBǔCBǻ =Bǻ =CǮ5QUDAT read: Range 11 to 50 : 194.0 m (Round-trip 258.7 ms) speed -0.7 m/s ]R#Rx 1: Read range and direction messages.e`direction in FSK: [-0.740369,0.076510,-0.667833]eFpublishing direction and range infoyD>翡 "?rc^YBC{ q)IV ?i ?>f@%/@ 6;)xB@I6;?L&5ݿ:6G4 B ).?IxB@i6;?^A _A >A >I I O >a XY,c?A2E?20?2Ҧ;ٱ2`# :AHRS rotation from veh to nav: [[-0.187381,-0.969497,-0.157998],[0.982257,-0.186198,-0.022392],[-0.007710,-0.159390,0.987186]]2Hǿ`@D9Ŀ`n?`Tǿ 햿ŔfĿ ?i2E?I2G];2CYNwByRyIi]Mb@Mb@Mb@YYYY Y9] +?/$V-?Y]V?y]Y]%A]A ]SA)]AYY]GAbDuVDuyp<%V=ٔgQ->9Y=bFyD;E>Q 54?Q 94m)3NBYV?Q E|:y?Q I?/CI:ia:z4yɮDAiiA)Y?AJi&ACRi&ACji'@bH aMm0-@1;J`RD>翡 "?rc^ZixB@bi6;?jl@@(wa h`Zr?[#y?5M2iS :ieB"iǠ?*i$aBi6iǠ?i;5i'BiCi<@ addTargetRange:: Added new target pos. range: 194.000000 m, deltaT: 60.525676 s, deltaX: 98.000000 m, approachRate: 1.619148 m/s, rangeRepo size: 4  Added new target pos. range: 193.148483 m, bearing: 283.175045 deg, lat: 36.779443 deg, lon: -121.859530 deg, deltaT: 60.525676 s, deltaX: 97.586487 m, approachRate: 1.612316 m/s, posRepo size: 4 FNOT Ignoring new targets: 193.15 m.Completed rollout at range: 194.00 m. Resuming terminal guidance.bTransitioning guidance mode to: TERMINAL_GUIDANCE:h%?h%ƛ@h!*h!"h! h!g!f!f)f- |Bd)d1d1jd5@h@Zd5?ԑ{Bɢj)) i)=iLi g?9iߡ Iߡ  K,|?A6?6n?6M;ٱ6  BAHRS rotation from veh to nav: [[-0.189243,-0.969935,-0.153011],[0.981912,-0.187868,-0.023530],[-0.005923,-0.154697,0.987944]]6H9ȿ ߕÿk? ȿX`Bx`ÿ`=?i6?I6y];6CYFxByJIIN=)N=bDRVDRN2yZ=%ZY=ٔ^)Q-^>9\Y`=bbFybDbD;Eb>dQ 5j4f(?Q 9j4f6)f=NBYlyn?Q In?fXCIfa;if;f4yrBɮrDAvE1M~ Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_TerminalqM Entering Terminal tracking update period 2.000000 s sec at 194.000000 m (mode 1.000000 count ).qM M h!h!*h!"h! h!g!f!f)f)d)d)d1jd1Zd5`?]{BɢeZ )a e1xia)e$=aiim Jim?quwM=IqIq1@1 @1@5/@1^A :IiIO>I D %=D %=E L E NE /E "E W;*E ;VE J4ZE a @a @a @a @p%,і?A ~PExceeded connect timeout, disconnecting.E?E?E;ٱEd ]AHRS rotation from veh to nav: [[-0.190653,-0.970691,-0.146324],[0.981649,-0.189142,-0.024300],[-0.004088,-0.148272,0.988938]]EHRgȿ `¿ i?5ȿ*☿ p¿a?iE?IE];ECYmwBymIB>B,CB}IBwBB =BBDB~;BA5Ei}Mb@Mb@Mb@yyyy y9}ףp= ?9Y=bFyDH;E>Q 54$핊?Q 94)JNBY^?Q Es:y?Q I?CI ;i ;Bĕ4yBɮ EAEjj@MMB*** querying acoustic contact ***i ihh*h"h hgff f O|Bd d djdZd@?={Bɢ=,)A E_yiA)Mj=IIiMhHiUg?QUtJ=IQIQa@ @@@ԑ T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.^A= <AE gAzAE hAI I O >(+,Ĕ?A;ɰ2s?2?2:ٱ2F >AHRS rotation from veh to nav: [[-0.192537,-0.970904,-0.142389],[0.981288,-0.190733,-0.026337],[-0.001587,-0.144796,0.989460]]2H@ ȿ9¿ f?`iȿ%`Z`¿?i2s?I25];2CLYRwByRuIbDZVDZβEbG EbGEb*E`"Eb&|;*Eb;VEb(N4ZE`BEb9QYQ=]bFy]D];E]>aQ 5m4e}蕊?Q 9m4e)eTNBYqyu?Q Iu?eCIe9:ie:eʕ4yyɮ}rEArjM1Nhh*h"h hgfffdddjdZd?{Bɢ7) F}i)=iGi?t06>II@ @@@u(DAT read: user:55> }BDAT read: Tx time:04:09:05.9811 }$Ping request sent.}! % checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250220!}2,Pp?AF.?F?FٱFTc VAHRS rotation from veh to nav: [[-0.194372,-0.970524,-0.142488],[0.980928,-0.192226,-0.028808],[0.000569,-0.145370,0.989377]]FH/ȿ@ =¿c?`ߚȿ@ԢB?y¿`?iF.?IF];DYfwByf}I llbDzVDz0y=%N=ٔ%Q-%>9)Y)=-bFy-D5;E>Q 54㕊?Q 94>)aNBYy?Q I?CI:i:ѕ4yBɮEA١Ezj1NrCompleted lineCaptureHoming:UpdatePingUpdateRate_Terminal1M Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminalhh*h"h hgfffd d d jd Zd c?={Bɢ=M)9 ExiA)EA6 =AAiEPEiM¾?IM<~>IIIQDzDES EDE,E"E;*Eh;VEg4ZEa@a@a@a@9@ @@/@)^AS%}=nManaging dock network, ignoring radio surface power offA!IIYAAAAB>B-CBIB xBB =BBB~;BF5Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.504586I1O=>ԁ CQ i Q9 Y A%8,J?A>T?>@?>K:ٱ>ğ JAHRS rotation from veh to nav: [[-0.195514,-0.970192,-0.143184],[0.980697,-0.192994,-0.031420],[0.002850,-0.146563,0.989197]]>Hɿ `S¿a? ȿJ@gXg?¿?i>T?I>I^;9yYy=}bFy}D8;E>Q 54ݕ?Q 94P)jNBY^?Q Et:y?Q I?CI ;iK ;ؕ4yɮEAhh*h"h hgfff |BdddjdZd@颅{Bɢ ) 6~i)N=顉iCix? >IIchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.757397-9@) @1@50@1ԉ^A|f=A >A >EX ENE%E"EɅ;*E;VE 4ZEBEԱ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006199 X>,p&?AY~wBy~iIbD VD 1yW%%P=ٔ%Q-%>9)Y)=-bFy-D-E->1Q 5=45iؕ?Q 9E45{)5sNBYAyAQ IE?5:CI5;i5&;5ߕ4yIɮMFAQhqhq*hq"hy hygyfyffdddjdZd@颵{BԹɢ ) i~i)=icAi?II@ @@4@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258179^A=I I E W E UE +E "E T;*E \;VE [4ZE a @a @a @a @O >9 E, ?A]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512986Bu>Bu.CBqBqBu =BqBuDBu~;BuC5E??Vٱ# AHRS rotation from veh to nav: [[-0.191286,-0.969270,-0.154679],[0.981495,-0.187483,-0.038945],[0.008749,-0.159266,0.987197]]H |ȿB ÿ ih?tǿ `?bĿ?i?I^;YwByTII =) ,>iMb@Mb@Mb@ 9Cl?~jtx?:v?Y;_?y;T< A)AYGAbD VD N2y=΍%E,=ٔEKQ-E>9IYI=MbFyMDMEU>QQ 5]4Umѕ?Q 9e4Up)U}NBYeC_?Q Ees:ye?Q Ie?UoCIU ;iU? ;U4yqɮuFAqB*** querying acoustic contact ***i ihh*h"h hgfff{BdddjdZd<@{Bɢ ) i)=ix.@iϜ?IIA@ @@4@^Aus9=IIOn>ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762204ԑ ^K,1?A2?2?2̡?ٱ2b3 :AHRS rotation from veh to nav: [[-0.185218,-0.968033,-0.169135],[0.982628,-0.180392,-0.043600],[0.011696,-0.174272,0.984628]]2H5ǿ@ 8ſ q?ǿR?@Nƿ?i2?I215_;2CYBwByBEIbDJVDJERN EREER,EP"ER@;*ER;VERg4ZEPBERim1?qqIqIqq@ @@/@Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014853^A%>AfAzAdAIIIYOe4>ԡ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267461 R,K?Af5?fL?fsٱf1E nAHRS rotation from veh to nav: [[-0.177695,-0.966396,-0.185750],[0.983974,-0.171635,-0.048340],[0.014835,-0.191363,0.981407]]fHƿ@ǿ|?&ſ  a?`~ȿ@g?if5?If^;dYvpwByv+IbDVDfyȽ%E=ٔQ->9Y=bFy%D%ܖE%>)Q 554- Ǖ?Q 954-@`)-NBY9y=)?Q I=?-CI-@;i-n;-4yAɮEHAAhihi*hi"hi higqfqfqfqdydydyjdyZd@颭{BɢX5)  i)<顱i{;*E ;VE [4ZEa@a@a@a@^A9T>I!I9OE0>mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.520410B>B-CB}IBwBB =BBDB~;BL5E! X,Oe?A02?21?2ٱ2:Y >AHRS rotation from veh to nav: [[-0.166923,-0.964491,-0.204678],[0.985808,-0.159494,-0.052388],[0.017883,-0.210518,0.977426]]2H]ſ 2ʿ?PjĿ`ҪO?=ʿG?i2?I2^;0Yv^wByv I xxi}Mb@Mb@Mb@yyyy y9}Q?Mbp~jtx?Y}(\?y}};}(A}A y)}AyY}AbDVDy'%B=ٔQ->9Y=bFyDԼE>Q 54•?Q 94V)NBY*\?Q Ev:y#?Q I?CI*:iv:#4yɮKHAhh*h"h hgfff{Bd d d jd Zd  @={Bɢ=y:)9 =ˋiA)E;IIO%M>ԹE7 E*E.E"Em;*E;VEـ4ZEBE9hYh=jbFyjDjEj>lQ 5r4n?Q 9v4npN)nNBYtyv`?Q Iv?nCIn:in:n4yz”Bɮ~0IA~šEhh*h"h hgfffdddjdZd]@{Bɢ>7Q) +i) d<  i 9isJf?1I1I9@ @@/@@R>@p>BDAT read: Rx Time:04:09:08.6461 TRx dataTimestamp_ set to:1761538150.180924 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276761^AY>AA>E 6 E 0E *E "E l;*E ;VE (N4ZE a @a @a @a @A! I) I9 A OM >U f,-^?A5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528735B]>BYB]dIB]wBB] =BYBYB]~;B]e5EB-CB-CBCB =B =CP5! ?  ? Yvٱ g AHRS rotation from veh to nav: [[-0.115050,-0.955110,-0.273000],[0.992865,-0.101889,-0.061955],[0.031358,-0.278180,0.960017]] Hs@Bxѿ?@k?@ѿu?i ?I ^; CYwByII=)=imMb@Mb@Mb@iiii i9mgfffff?Mbp?y&1|Ym3S?ym;m`m=0Am`A mA)mAiYm(AbDVDky1;%=ٔQ->9Y=bFyDE>Q 54?Q 94C)NBY5S?Q E:y?Q I?QCI%;i\ ; 4yɮIAB*** querying acoustic contact ***i ihh*h"h hg9fqfyf}{BdydydjdZd@ͻ@颭{BɢW0)5 i) <i9icI?II9@ @@/@i DAT read: 04:09:08.6461 LVL= 32752, 31265, 32754, 32755, AGC= 71, IDX= 118,-0.20,-0.409, 1.496,-0.039, 0.312, PHS=-0.619, 1.229,-0.395, RAW= 323.6, -2.5, CAL= 322.6, -5.6, ROT= 187.4, 5.6 - Ygot valid direction response: 04:09:08.6461 LVL= 32752, 31265, 32754, 32755, AGC= 71, IDX= 118,-0.20,-0.409, 1.496,-0.039, 0.312, PHS=-0.619, 1.229,-0.395, RAW= 323.6, -2.5, CAL= 322.6, -5.6, ROT= 187.4, 5.6 5 PDAT read: Bearing 79.6, -7.1 (Local) = ~Local bearing/azimuth received: Bearing 79.6, -7.1 (Local) M DAT read: Range 11 to 50 : 195.6 m (Round-trip 260.9 ms) speed -0.4 m/s U R#Rx 1: Read range and direction messages.e bdirection in FSK: [-0.986938,-0.128181,-0.097583]e Fpublishing direction and range infoym:hA_1YCC!z )GIviO?q=ʾ{@¸2,@ +Ƚ)SQ@I+=E 9 E ,E )E "E so;*E ;VE FA4ZE BE 5"m,?ALY vByIbD%VD%:y5y,%5g=ٔ5Q-=>99Y9==bFy=DEEE>IQ 5U4MѶ?Q 9U4Mi;)MNBYQyQQ I]?MvCIM;iM;M$4yaɮeJAai!i% ū?AJi%BCRi%BCji%U@b%&]hD8 3R%m:hA_1Zi%@bi%+=j%knbI@^E@+cg?S1Z%hY?[(˾;>ƶ2i%;:i%LB"i%a?*i%=tBi%1Bi%Pˠ?i%8+i%4tBi%Ci%$@ addTargetRange:: Added new target pos. range: 195.600006 m, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, rangeRepo size: 1 RhZh Added new target pos. range: 194.748245 m, bearing: 285.287332 deg, lat: 36.779443 deg, lon: -121.859539 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, posRepo size: 1 jhFNOT Ignoring new targets: 194.75 m.RhZh  ProNav pure pursuit: ac range: 194.748245 m, nav range: 147.888916 m, bearing: 283.156660 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 282.196907 deg, new cmd heading: 283.156660 deg. HeadingCmd: 4.942016 target range: 194.748245 and range: 195.60 m.h$@h*h"h hgfffdddjd@3sh@Zd?%{Bɢ-`R)) -䙿i))5+<11i57i=e7?99I=$@I9M(DAT read: user:56> UBDAT read: Tx time:04:09:10.0311 U$Ping request sent.U checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251992 A .AI I O >8t,?A2?2 ?2~ٱ21 :AHRS rotation from veh to nav: [[-0.092341,-0.951914,-0.292119],[0.995050,-0.077395,-0.062339],[0.036733,-0.296429,0.954348]]2Hࣣvҿ`r?`$г꯿@΢?ҿ ?i2?I2#];0YVvByVIbD^VD^yf z%fR=ٔjZbQ-j>9j ?Yj ?=jbFyjDn pEn>pQ 5v4rB?Q 9v4r2)rNBYxyz-?Q Iz?rCIr:ir:r4|yɮJAjh)-FNOT Ignoring new targets: 194.75 m.Rh5EZh5EE ProNav pure pursuit: ac range: 194.748245 m, nav range: 148.207306 m, bearing: 283.139946 deg, approach rate: 0.824334 m/s, LOS rate: -0.043180 deg/s, cmd heading: 283.156666 deg, new cmd heading: 283.139946 deg. MHeadingCmd: 4.941724 target range: 194.748245 and range: 195.60 m.hM"@hI*hI"hI hIgIfQfQfQE2 E E+E"Ei;*E:VE [4ZEa@a@a@a@dQddjdZdV?颅{Bɢq) }i)<顉i$[6ik-!?I"@I@ @@1@@gA@1checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505179B>B/CB?IBwBB =BBDB7;B5EQ^A)Ae ؟AIi Iy ԁ O >1z,?Abchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.756000ϲ??5 FٱȨ -AHRS rotation from veh to nav: [[-0.044209,-0.945920,-0.321375],[0.997852,-0.026240,-0.060031],[0.048352,-0.323338,0.945047]]H DhԿ`f?ޚh?Կ=?iϲ?I,^;YEvByEIQ YYiMb@Mb@Mb@ 9T㥛 ?{Gz?y&1YA?y#<`e79AA  A)YAbDVDyB%0=ٔ_ͼQ->9"?Y"?=bFy)D)սE>Q 54ò?Q 94))NBYA?Q E:y?Q I?̭CIH:i:!4y˔BɮKAEjhFNOT Ignoring new targets: 194.75 m.RhkZhk  ProNav pure pursuit: ac range: 194.748245 m, nav range: 148.551498 m, bearing: 283.115995 deg, approach rate: 0.742548 m/s, LOS rate: -0.051550 deg/s, cmd heading: 283.139946 deg, new cmd heading: 283.115995 deg. HeadingCmd: 4.941306 target range: 194.748245 and range: 195.60 m.h.@h*h"h hgfff#|Bd!d!d!jd)Zd-f?U{BɢUVt)Y ]ߞiY)]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259714r5?rK?rjf_ٱr zAHRS rotation from veh to nav: [[-0.019514,-0.942957,-0.332343],[0.998322,-0.000253,-0.057901],[0.054514,-0.332915,0.941380]]rH `,EտA?01B? |Nտ?ir5?Ir1^;pYvByIbDVDy-ē%-/=ٔ-uXQ-->95 ?Y5 ?=5bFy52D=XE=>qQ 5}4u?Q 9}4uo )uNBYyy}_?ԁQ I?uCIuF-;iu1.;uR)4yɮLAjhFNOT Ignoring new targets: 194.75 m.RhbZhb ProNav pure pursuit: ac range: 194.748245 m, nav range: 148.900726 m, bearing: 283.088330 deg, approach rate: 0.737759 m/s, LOS rate: -0.058306 deg/s, cmd heading: 283.115986 deg, new cmd heading: 283.088330 deg. HeadingCmd: 4.940824 target range: 194.748245 and range: 195.60 m.h:@h*h"h hgfffdddjdZd`?{Bɢ>r) i)<<!i%n5i%UV>))I-:@I)Du=DqE}& E}E}+Ey"E}8^;*E}:VE} [4ZEya@a@a@a@ԩ}=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513253M9@I @QBu>Bu1CBuIBuSwBBu =Bu=DBuDBu;Bu5E@Q@@V>@ G 5 ۮ91 Y= A^A 9IAIYOe?~,,?A2checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763367rv?r0a?r`xٱr AHRS rotation from veh to nav: [[0.005321,-0.940669,-0.339284],[0.998148,0.025557,-0.055206],[0.060601,-0.338362,0.939063]]rHu?Զտ?@+?C#? տ ?irv?Ir/^;rCYvByIiMb@Mb@Mb@ 97A`?I +?/$Y6?y9<K=AA A)SAYAbDVDβy-%-=ٔ5Y9Q-5>91Y9==bFy==D==E=>AQ 5M4E?Q 9U4Ep)ENBYU6?Q EU:yU?Q IU?E*CIE;iE9;E24yYɮeBLAa}B*** querying acoustic contact ***iy iyjhFNOT Ignoring new targets: 194.75 m.Rh#Zh# ProNav pure pursuit: ac range: 194.748245 m, nav range: 149.272110 m, bearing: 283.057245 deg, approach rate: 0.697057 m/s, LOS rate: -0.058199 deg/s, cmd heading: 283.088337 deg, new cmd heading: 283.057245 deg. HeadingCmd: 4.940281 target range: 194.748245 and range: 195.60 m.h@h*h"h hgfff|BdddjdZd@{Bɢ5 ^)  i ) &~<  iT5i]P>I@I!!))Em  EiEiEi"EmX;*EiVEiZEiBEmԱIqIO? ,L?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266911RJM?R`8?RTٱR ZAHRS rotation from veh to nav: [[0.029943,-0.939904,-0.340123],[0.997355,0.050642,-0.052143],[0.066234,-0.337662,0.938934]]RH``? տT??`?@տ ?iRJM?IR^;RCYbvvBybIbDnVDnܲyr%v.=ٔvDQ-v>9xYx=zbFyzFD~WE~>Q 54۱?Q 9 4 )NBY y ?Q I ?UCI[:it::4yԔBɮLAEjhAEFNOT Ignoring new targets: 194.75 m.RhMZhM] ProNav pure pursuit: ac range: 194.748245 m, nav range: 149.598129 m, bearing: 283.026846 deg, approach rate: 0.694150 m/s, LOS rate: -0.064584 deg/s, cmd heading: 283.057246 deg, new cmd heading: 283.026846 deg. ]HeadingCmd: 4.939750 target range: 194.748245 and range: 195.60 m.h]o@ha*ha"ha hagafafifidididqjdqZdu@额{BɢÆ) !i))<顡ip5iVk>Io@I1i@i @i@mr0@iE5+ E5&E5*E1"E5b;*E5;VE5(N4ZE1a=@a=@a=@a=@a^A;>iIchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.522214B <A B% >B!IqB%IB%*wBB% =B!B%DIB% ;B%6EO= > 3,̘f?A2P?2f ?2&lٱ2 :AHRS rotation from veh to nav: [[0.054717,-0.942045,-0.330996],[0.995943,0.075206,-0.049405],[0.071434,-0.326950,0.942338]]2H?:% /տ?@@?K I?Կ@'?i2P?I2<^;2CYByvByBIi=Mb@Mb@Mb@9999 99=/$? rhMbp?Y=1(?y=C =;=1BA=S@ =!A)=A9Y=pAbDUVDUk1ye8;%eC=ٔmKQ-m>9iYq=ubFyuODurEu>yQ 54}6?Q 94}l)}NBYk(?Q E:y?Q I?}xCI}:i}:}.B4yɮLAjhFNOT Ignoring new targets: 194.75 m.Rh߸Zh߸ ProNav pure pursuit: ac range: 194.748245 m, nav range: 149.858215 m, bearing: 282.992868 deg, approach rate: 0.619670 m/s, LOS rate: -0.080815 deg/s, cmd heading: 283.026838 deg, new cmd heading: 282.992868 deg. HeadingCmd: 4.939157 target range: 194.748245 and range: 195.60 m.h @h*h"h hgfff|Bddd jd Zd9@e{Bɢmv)y ji)*<i!6i' >!!I% @I)=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771666@ @ @ 0@ E=. E=E=+E9"E=ye;*E=:VE= [4ZE9BE= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022819Q ,}?A4<ɰ2?2?2ٱ2Ԏ :AHRS rotation from veh to nav: [[0.078997,-0.946381,-0.313244],[0.993963,0.098777,-0.047761],[0.076141,-0.307580,0.948471]]2H "9?H/ Կ ?qI?@t }? cӿY?i2?I2 ^;0YBvByBIbDJVDJ02yr=%rS=ٔr^GQ-v>9tYt=vbFyvVDzEz>|Q 54~붕?Q 94~)~OBYy Ӹ?Q I ?~CI~:i~:~H4yɮOLAjh9EFNOT Ignoring new targets: 194.75 m.RhEźZhEźU ProNav pure pursuit: ac range: 194.748245 m, nav range: 150.096497 m, bearing: 282.959300 deg, approach rate: 0.614466 m/s, LOS rate: -0.086426 deg/s, cmd heading: 282.992878 deg, new cmd heading: 282.959300 deg. ]HeadingCmd: 4.938571 target range: 194.748245 and range: 195.60 m.h]@hY*hY"hY hYgafafafadididijdiZdmN @额{BɢS) i)Z<顡iV6i1z=I@I>i>)I@I @I@U4@Q=BDAT read: Rx Time:04:09:12.6984 ETRx dataTimestamp_ set to:1761538154.212120Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.275910Y^AII O>ԁ bEəT4jEəT4rE/EE ( EE ,EE *EA "EE `;*EE ;VEE (N4ZEA aU @aU @aU @aU @F,P?A06֟?62?6Ϥٱ69 BAHRS rotation from veh to nav: [[0.103440,-0.950909,-0.291672],[0.991382,0.122269,-0.047034],[0.080388,-0.284293,0.955361]]6H@ {?`m`ҿ`f?` M?@L?1ҿQ?i6֟?I6f_;4Y^vBybIbDjVDjyr<%rK=ٔr-Q-v>9tYt=vbFyv^DzTzEz>|Q 54~I?Q 94~)~2OBYy?Q I ?~CI~q+;i~\C;~P4y)ɮ5LA1B>B2CBIBwBB =BBBJ;BZ6Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.541661jhQeFNOT Ignoring new targets: 194.75 m.ԑRhZhM ProNav pure pursuit: ac range: 194.748245 m, nav range: 150.341721 m, bearing: 282.922171 deg, approach rate: 0.525069 m/s, LOS rate: -0.079369 deg/s, cmd heading: 282.959301 deg, new cmd heading: 282.922171 deg. HeadingCmd: 4.937923 target range: 194.748245 and range: 195.60 m.hx@h*h"h hgfffdddjdZdZ@{Bɢu)  Ӟi ) 5<  i7i?Ix@IԹ9@ @@4@ DAT read: 04:09:12.6984 LVL= 32752, 32337, 32754, 32755, AGC= 69, IDX= 125,-0.08, 0.122, 2.345, 1.014, 1.233, PHS=-1.009, 1.157,-0.263, RAW= 310.2, 1.2, CAL= 308.1, -2.0, ROT= 201.9, 2.0  Ygot valid direction response: 04:09:12.6984 LVL= 32752, 32337, 32754, 32755, AGC= 69, IDX= 125,-0.08, 0.122, 2.345, 1.014, 1.233, PHS=-1.009, 1.157,-0.263, RAW= 310.2, 1.2, CAL= 308.1, -2.0, ROT= 201.9, 2.0  PDAT read: Bearing 67.8, -24.7 (Local)  ~Local bearing/azimuth received: Bearing 67.8, -24.7 (Local)  DAT read: Range 11 to 50 : 197.3 m (Round-trip 263.1 ms) speed -1.2 m/s  R#Rx 1: Read range and direction messages.] bdirection in FSK: [-0.927271,-0.372760,-0.034899]] Fpublishing direction and range infoy  }`47DN׿XޡY LEC Q~ ) EI &i ? 𧆾 ?@ < T@ 5) Ca@I 5= J}!>vߠƿG2z9ו? r=) 0I r0i 5= u T****** received valid address query ******u R****** received valid ping request ******u Querying Benthos address 50 with one ping in standard two-way mode.^AE @>AE >AE > E] / E] 6EY EY "E] af;*E]  ;VEY ZEY BE] Ϸ,lѶ?AYvByIiMb@Mb@Mb@ 9X9v?J +Mb?Y?yH<K=A@ A)nAY3AbDVDܲy=%,=ٔQ->9"?Y"?=bFyhDE>Q 54?Q 94b)YOBY-?Q E-:y-?Q I-?CI?& BDAT read: Tx time:04:09:14.0811 $Ping request sent. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252536) Am .AIq I O >,+?A^@E?^V0?^ٱ^k fAHRS rotation from veh to nav: [[0.177022,-0.948796,-0.261630],[0.980063,0.194301,-0.041505],[0.090215,-0.249067,0.964275]]^H?\п \??@(@P?jϿ X?i^@E?I^^;\Y vBy IbD%VD%2y5<%5P=ٔ5ͼQ-=>9= ?Y= ?==bFy=pDEBEE>IQ 5U4MÕ?Q 9U4M>)MzOBYYy]?Q I]?MCIM ;iM;M)_4yeޔBɮeiKAeEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 196.46 m.RhZh ProNav: ac range: 196.456070 m, nav range: 151.655823 m, bearing: 282.843822 deg, approach rate: 0.575520 m/s, LOS rate: -0.111484 deg/s, cmd heading: 282.819419 deg, new cmd heading: 282.694851 deg. BhHeadingCmd: 4.933956 target range: 196.456070 and range: 197.30 m.h@h*h"h hgfffdddjdZdT%?M{BɢUL)Q UNiQ)Uv! A I I O > >,?Aji?jڮ?jD۽ٱj zAHRS rotation from veh to nav: [[0.202453,-0.943961,-0.260674],[0.974907,0.219437,-0.037469],[0.092571,-0.246547,0.964700]]jH?4`п@p2??$/?؎Ͽ?iji?Ij^;jCY wBy Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754911iMb@Mb@Mb@ 9X9v?X9v:v?Yy<1AA A)Z AYAbDVD1y%=%-<=ٔ-Q-->91Y1=5bFy5yD=uE=>AQ 5M4Eȕ?Q 9M4Et)EOBYMJ?Q EM:yM?Q IM?E!CIE;iE;Ef4yYɮ]JAYjhFNOT Ignoring new targets: 196.46 m.RhZh ProNav: ac range: 196.456070 m, nav range: 151.893173 m, bearing: 282.798636 deg, approach rate: 0.546647 m/s, LOS rate: -0.103907 deg/s, cmd heading: 282.694863 deg, new cmd heading: 282.559516 deg. BhHeadingCmd: 4.931594 target range: 196.456070 and range: 197.30 m.hϝ@h*h"h hgfffr{BdddjdZd࿇?{Bɢt)  i)pHf<i;iڶIϝ@I@ @@@EP E"E/E"E(;*E;VEJ4ZEBEAzAdA checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006858A A ؟AI I O >=%,?AB}?Bj?Be½ٱB9 JAHRS rotation from veh to nav: [[0.228508,-0.937030,-0.264120],[0.968918,0.245305,-0.032004],[0.094778,-0.248597,0.963959]]BH??&Vп`_?'f?baC?Ͽ ?iB}?IB-^;BCYR3wByVIbD^VD^yf >%fd=ٔfjʻQ-f>9j"?Yj"?=jbFyjDjYEn>pQ 5v4r͕?Q 9v4r޺)rOBYtyv}?Q Iv?r=CIr :ir:rm4yxɮ~#JA|jhFNOT Ignoring new targets: 196.46 m.RhZh ProNav: ac range: 196.456070 m, nav range: 152.086487 m, bearing: 282.759474 deg, approach rate: 0.513941 m/s, LOS rate: -0.103983 deg/s, cmd heading: 282.559516 deg, new cmd heading: 282.442180 deg. BhHeadingCmd: 4.929546 target range: 196.456070 and range: 197.30 m.h׾@h*h"h hgfffdddjdZd? {Bɢ G)  i)X<ivE  EE,E"EX;*E:VEg4ZEa@a@a@a@A .AI I! O- >ԡ B% >B! B% &IB% gwBB% =B! B! B% р;B% 6ER,?Ai4I4Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.514603yYlwBy)I iUMb@Mb@Mb@QQQQ Q9U/$?~jtV-?YU1(?yUU9 ?Y ?=bFyDE>Q 54ԕ?Q 94ֺ)OBYm(?Q E:y9?Q I?fCI E ! E E *E "E Y;*E :VE (N4ZE BE ׬q,^9?AYzwByzeIbDVDy2>%r=ٔQ-%?9!Y!=%bFy%D)E-?1Q 5=45ٕ?Q 9=45Ѻ)5PBY9y9Q IE?5CI5:i5:5{4yIɮMGAIqjhq}FNOT Ignoring new targets: 196.46 m.Rh}IZhI ProNav: ac range: 196.456070 m, nav range: 152.569153 m, bearing: 282.667112 deg, approach rate: 0.606466 m/s, LOS rate: -0.115654 deg/s, cmd heading: 282.277812 deg, new cmd heading: 282.165531 deg. BhHeadingCmd: 4.924717 target range: 196.456070 and range: 197.30 m.hI@h*h"h hgfffdddjdZd`@{Bɢz) qoi)Q><i @ie II@I checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014955ԙ9@ @@/@ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266742 ^A A% >A% >!A]؟AEm, Em&Em+Ei"Emc;*Em;VEm [4ZEiau@au@au@au@IyIO>,%X?AR ?R?RTTϽٱR ZAHRS rotation from veh to nav: [[0.306593,-0.909749,-0.279925],[0.946460,0.322604,-0.011825],[0.101062,-0.261312,0.959949]]RH8?Iѿ gI??76߹?Vп@?iR ?IR\^;RCYbwByb|IbDjVDj0yrV=%r-=ٔv1[Q-v>9v"?Yv"?=zbFyzDz-1Ez>|Q 54~yᕊ?Q 94~rɺ)~EPBY y ڞ?Q I ?~CI|i~t:~΃4ypBɮKAE5B*** querying acoustic contact ***i1 i1jhAEFNOT Ignoring new targets: 196.46 m.RhMZhM] ProNav: ac range: 196.456070 m, nav range: 152.830811 m, bearing: 282.606882 deg, approach rate: 0.554350 m/s, LOS rate: -0.127385 deg/s, cmd heading: 282.165524 deg, new cmd heading: 281.985144 deg. Bh]خeHeadingCmd: 4.921569 target range: 196.456070 and range: 197.30 m.he}@ha*ha"ha hagifififidqdqdqjdqZd}@@颥{Bɢ@) ei)7s0<顩iCiw$I}@IԱmB >BBdIBwBB =BBB ;B-7Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519552Q@Q @Q@]0@Y g>MGhA 19 hAY  Aym8?mr{A^A I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7707799 m,q?A2؆?2q?2"ӽٱ2 :AHRS rotation from veh to nav: [[0.332426,-0.898794,-0.285766],[0.937498,0.347970,-0.003864],[0.102911,-0.266621,0.958292]]2H yF?@Iҿ`?#E?o[X?Pѿ S?i2؆?I2^;0YB1xByFIIJ=)J<ronly read 0 of 1 data item for water mass range. Device response is::WD, -21.92, .5 20.00,683.07 ar@av av@av av@av av@av bDzVDzy>%@=ٔhQ->9Y=bFyDE>Q 54镊?Q 94º)pPBQ A+:YQ E:y_?Q I?ͯCIe:ii>щ4ywBɮJAjhFNOT Ignoring new targets: 196.46 m.RhZh ProNav: ac range: 196.456070 m, nav range: 153.062286 m, bearing: 282.550503 deg, approach rate: 0.545663 m/s, LOS rate: -0.132702 deg/s, cmd heading: 281.985152 deg, new cmd heading: 281.816272 deg. Bh%HeadingCmd: 4.918622 target range: 196.456070 and range: 197.30 m.hZe@h*h"h hgf f f d ddjdZd W@E{BɢEW?)A EUiA)M$i>@ @@0@ ^A checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274850IIO>,?A2|?2?2սٱ2)J  AHRS rotation from veh to nav: [[0.357680,-0.888137,-0.288578],[0.928006,0.372546,0.003664],[0.104254,-0.269113,0.957449]]2H;?`kxҿ`:? ?n?i?%9ѿl?i2|?I2^;2CYqxByIbD-VD-:3y=>%=,=ٔE:Q-E>9AYA=MbFyMDMiEM>QYQ 5e4]`?Q 9e4])]PBQ Ae :YaQ EeS:ye?Q Im?]CI]:i]g?]F4yusBɮuIAuEjhFNOT Ignoring new targets: 196.46 m.RhTZhT ProNav: ac range: 196.456070 m, nav range: 153.317352 m, bearing: 282.484898 deg, approach rate: 0.535673 m/s, LOS rate: -0.137549 deg/s, cmd heading: 281.816283 deg, new cmd heading: 281.619797 deg. Bh̼HeadingCmd: 4.915193 target range: 196.456070 and range: 197.30 m.hBI@h*h"h hgfffdddjdZd@ @{Bɢ.$)L Ei)<i0Ki@UIBI@IDe=De=Em& Em Em)Ei"Em8^;*Em:VEmFA4ZEia}@a}@a}@a}@yB%>B!B%IB%exBB% =B!B!B%d;B%s7Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.530409Ա@ @@@ ^A- @>I I O >t,W?A9Y = bFy DRjE>Q 5%4?Q 9%4h)PBQ A%T:Y%>?Q E%:y%?Q IM?!CI;i;w4yQɮUHAQjhFNOT Ignoring new targets: 196.46 m.Rh8Zh8 ProNav: ac range: 196.456070 m, nav range: 153.617905 m, bearing: 282.421309 deg, approach rate: 0.630241 m/s, LOS rate: -0.133082 deg/s, cmd heading: 281.619792 deg, new cmd heading: 281.429398 deg. BhHeadingCmd: 4.911870 target range: 196.456070 and range: 197.30 m.h .@h*h"h hgfff|Bd d d jd Zd@R@]{Bɢ]ԡ)  7i)S <i!Oi p  I .@IEE0 EE'EE*EA"EEJg;*EE";VEE(N4ZEABEEI I O >,?A6Rn?6?6jؽٱ6k荾 BAHRS rotation from veh to nav: [[0.407053,-0.865732,-0.291231],[0.907280,0.420083,0.019337],[0.105600,-0.272099,0.956457]]6H ( ?`ҿ`o??͓??`jѿL?i6Rn?I6 _;6CYFxByF I HHbDRVDRyZh>%Z`=ٔZQ-^>9\Y\=bbFybDbEb>dQ 5j4f?Q 9j4f˫)fPBYhynn?Q In?fCClIfy:if`+;f4yv~BɮvGAvEjhFNOT Ignoring new targets: 196.46 m.RhE%ZhE%- ProNav: ac range: 196.456070 m, nav range: 153.845261 m, bearing: 282.370331 deg, approach rate: 0.645373 m/s, LOS rate: -0.144491 deg/s, cmd heading: 281.429393 deg, new cmd heading: 281.276687 deg. Bh-Sƻ5HeadingCmd: 4.909204 target range: 196.456070 and range: 197.30 m.h54@h1*h1"h1 h1g1f9f9f9dAdAdAjdAZdMX@u{Bɢu")q u!iy)J<顁ikqRiB怿I4@IU9@Q @Q@U/@Q checking for new query: numPingsReceived=0, elapsed TxPingTime=4.2828601^A};>II O>DQzDQbEjEǞ]4rE0E]6 E],E].EY"E]l;*E];VE]ـ4ZEYae@ae@ae@ae@a A A B >B B IB xBB =B B B ;B 7E] checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534699, ?ABg?BƏ?BYٽٱBw= VAHRS rotation from veh to nav: [[0.430314,-0.855508,-0.287986],[0.896442,0.442448,0.025120],[0.105929,-0.268972,0.957305]]BHC?@R`]nҿ ?Q??%? 6ѿ@>?iBg?IB^;BCYn-yByr=IbD%9VD%P)ym=%?=ٔ@Q-%>9IYQ=]bFy]D`fE>Q 54 ?Q 94Q)QBYy?Q I?oCI:i:奖4yɮ;GAB*** querying acoustic contact ***i ijh)-FNOT Ignoring new targets: 196.46 m.Rh5%Zh5%E ProNav: ac range: 196.456070 m, nav range: 154.134918 m, bearing: 282.301799 deg, approach rate: 0.611167 m/s, LOS rate: -0.144329 deg/s, cmd heading: 281.276698 deg, new cmd heading: 281.071488 deg. BheƻmHeadingCmd: 4.905623 target range: 196.456070 and range: 197.30 m.hm@hi*hi"hi higqfqfqfqdydydyjdyZd}`@-{Bɢ-2)) -i))-(;11i57EWi=99aI=@I)M9@I @I@M4@Iԉchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.786882Թ ^A1 Ee ) Ee Ee *Ea "Ee `;*Ee :VEe (N4ZEa BEe .,u?A(Y]yBy[IiMb@Mb@Mb@ 9Pn?v/?Q?YD?yx=u<1AS@ A) AYAchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.038854bDVDyn=%1=ٔQ->9Y=bFyDE>Q 5 4%?Q 9 4)5QBYJF?Q E:y?Q I?CIF;i;I4yzBɮ^FAEjhAMFNOT Ignoring new targets: 196.46 m.RhM$ZhM$] ProNav: ac range: 196.456070 m, nav range: 154.419342 m, bearing: 282.242196 deg, approach rate: 0.685983 m/s, LOS rate: -0.143488 deg/s, cmd heading: 281.071491 deg, new cmd heading: 280.893012 deg. Bh]ĻeHeadingCmd: 4.902508 target range: 196.456070 and range: 197.30 m.heX@ha*ha"hi higqfqfqfu}BdydydyjdyZd}@A@颩ɢӄ)  i)m;顱iNT[ilIX@IԁԹma@a @i@m4@i checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290850 ^A) E5 7 E5 ,E5 (E1 "E5 m;*E5 ;VE5 c44ZE1 a= @a= @a= @a= @AYIiIyO>,?A6Z?6I?6ؽٱ60 BAHRS rotation from veh to nav: [[0.475214,-0.835114,-0.277048],[0.873546,0.485484,0.034965],[0.105303,-0.258630,0.960220]]6Hi?A(ѿ?+?@?`?eп?i6Z?I6,2_;6CYZyByZoII^<)^<bDfVDf:2yn`=%n9=ٔn:Q-n>9pYp=rbFyrDvaEv>xQ 5~4z?Q 9~4z)zSQBY|y~B?Q I~?zİCIz:iz:z4y ɮ EA jhFNOT Ignoring new targets: 196.46 m.Rh)Zh)Թ ProNav: ac range: 196.456070 m, nav range: 154.707321 m, bearing: 282.174812 deg, approach rate: 0.635710 m/s, LOS rate: -0.148471 deg/s, cmd heading: 280.893005 deg, new cmd heading: 280.691232 deg. Bh˻HeadingCmd: 4.898986 target range: 196.456070 and range: 197.30 m.hĜ@h*h"h hgfB >B1CBIByBB =B>DBBƁ;B7EB2CB2CBCB =B =CO5f1f1d1d9d9jd9Zd=` @checking for new query: numPingsReceived=0, elapsed TxPingTime=5.544554{BɢLм) i);ib`i%+ƥ IĜ@Iq = IA )E fAe checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795276 @  @ @ 0@ 1 E 4 E @E E "E j;*E M;VE ZE BE %u%,A%@ %A)%EA!Y%AbD=VD=yM=%U =ٔU6`;Q-U>9QYY=]bFy]D]pE]>aQ 5 4e-?Q 9 4eֆ)eeQBY S?Q E:y?Q I?eCIeVBIBMIBMzBBIBIBIBM;BM7Echecking for new query: numPingsReceived=0, elapsed TxPingTime=6.550776A1I9IIOU?$N,b?Aɰ]' H?]Q?]7нٱ]^ AHRS rotation from veh to nav: [[0.537904,-0.800789,-0.263432],[0.836874,0.544872,0.052502],[0.101494,-0.248700,0.963248]]]H6?п?`o?|?`?hϿ?i]' H?I]T8_;]CYyByIbDVDfyBK=% =ٔK;Q->9Y=bFyD(E>Q 54p=?Q 94{)wQBYy}?Q I?@CI1:i:ɖ4y Bɮ DA -B*** querying acoustic contact ***i) i)jh1=FNOT Ignoring new targets: 196.46 m.Rh=MZh=MU ProNav: ac range: 196.456070 m, nav range: 155.508530 m, bearing: 281.974983 deg, approach rate: 0.706130 m/s, LOS rate: -0.179668 deg/s, cmd heading: 280.396587 deg, new cmd heading: 280.093315 deg. BhUUHeadingCmd: 4.888551 target range: 196.456070 and range: 197.30 m.hUo@hY*hY"hY hYgYfYfafadadidijdiZdm@@aɢeM)i m߾iq)}Q;顡illiIo@I@ @@40@]checking for new query: numPingsReceived=0, elapsed TxPingTime=6.803331! ^A @>E = E ;E *E "E s;*E ;VE (N4ZE BE ,|~?A>˴A?>y?>˽ٱ>1 FAHRS rotation from veh to nav: [[0.558597,-0.786990,-0.261946],[0.823514,0.563905,0.061937],[0.098969,-0.250314,0.963093]]>H?/п9Z?` ?@.? V?%п@?i>˴A?I>c_;>CYNyByNIi%Mb@Mb@Mb@!!!! !9%L7A`?w/?QY%+G?y%&>%%X+A%@ %A)%tA!Y%AbD=VD=:yM<%MU=ٔMZ;Q-U>9QYQ=UbFyUD]!E]>aQ 5m4eG?Q 9m4es)ezQBYmK?Q Eu:yu?Q Iu?egCIeP ;ie ;e(Ж4yyɮ}DAyjhFNOT Ignoring new targets: 196.46 m.RhAchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.054896IZhA] ProNav: ac range: 196.456070 m, nav range: 155.756027 m, bearing: 281.910695 deg, approach rate: 0.650645 m/s, LOS rate: -0.168737 deg/s, cmd heading: 280.093326 deg, new cmd heading: 279.900771 deg. Bh]eHeadingCmd: 4.885190 target range: 196.456070 and range: 197.30 m.hezS@ha*ha"h hgfffF}BdddjdZd U@{Bɢ@μ) ܾi)#;ipi-IzS@Iq@ @@4@ԡ checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306946^A 6>A >A > A .AI I O >1%,_@?A2o;?20Es?2(MŽٱ2? >AHRS rotation from veh to nav: [[0.578764,-0.773617,-0.257973],[0.809803,0.582522,0.069912],[0.096190,-0.249370,0.963619]]2H@;?w@п@?`??⟸?XϿ`?i2o;?I26M_;0YDyDbDNVDNٔV;Q-V>9Z ?YZ ?=ZbFyZDZ{EZ>\Q 5b4^4R?Q 9f4^l)^|QBYdyf?Q If?^CI^p:i^$:^֖4yjBɮnEAnEErV Er@Er+Ep"Er;*ErM;VEr [4ZEpav@az@az@az@jhFNOT Ignoring new targets: 196.46 m.RhrEZhrE ProNav: ac range: 196.456070 m, nav range: 156.000076 m, bearing: 281.844221 deg, approach rate: 0.634746 m/s, LOS rate: -0.172621 deg/s, cmd heading: 279.900770 deg, new cmd heading: 279.701661 deg. BhHeadingCmd: 4.881715 target range: 196.456070 and range: 197.30 m.h7@h*h"h hgfffdddjdZd|@ɢּ)Q UܾiY)]P;YYi]^tieecaaIe7@IiԱB>B0CBIBazBB =BBDB;B8E)@) @)@-/@)i I  checking for new query: numPingsReceived=0, elapsed TxPingTime=7.5631015IG9Y(|A^AQ A ؟AI I O >9 +,u?A&checking for new query: numPingsReceived=0, elapsed TxPingTime=7.8109486e5?6l?6V羽ٱ6 * BAHRS rotation from veh to nav: [[0.599103,-0.759449,-0.253598],[0.795243,0.601226,0.078202],[0.093080,-0.248523,0.964143]]6H+?hM:п@r?@?=??Է?`Ͽ@C?i6e5?I6pY_;6CYJyByJIIL)N4=LLi}Mb@Mb@Mb@yyyy y9}+?~jt?J +Y}v>?y}>}H}(A}n@ }A)}AyY}AbDVDkyAr;%<ٔ;Q->9"?Y"?=bFy DkE>Q 54^?Q 94d)uQBYB?Q E:y??Q I?CI :i:uޖ4yɮ EAjhFNOT Ignoring new targets: 196.46 m.RhGZhG ProNav: ac range: 196.456070 m, nav range: 156.259735 m, bearing: 281.768206 deg, approach rate: 0.598247 m/s, LOS rate: -0.174848 deg/s, cmd heading: 279.701656 deg, new cmd heading: 279.473988 deg. BhHeadingCmd: 4.877741 target range: 196.456070 and range: 197.30 m.h%u@h!*h!"h! h!g!f!f)f-|Bd)d)d1jd1Zd5`[A @e{Bɢe˼)a e۾ia)mn;iiimwiu峿Iu@IED EXEE"Eny;*E;VEZEBEDi I I O >o2,%?A6(y.?6ROf?6$ַٱ6| >AHRS rotation from veh to nav: [[0.619382,-0.744610,-0.248841],[0.779955,0.619795,0.086740],[0.089643,-0.247810,0.964652]]6H@? Ͽ`d? ]?4??=Ͽn?i6(y.?I6l_;6CYFyByFIbDNVDNyVJ%ZZ=ٔZ9XY\=^bFy^D^!E^>`Q 5f4b.j?Q 9j4b^)bnQBYhyj?Q Ij?bݱCIb:ib9:b4ylɮnUEApjh FNOT Ignoring new targets: 196.46 m.Rh LZh L ProNav: ac range: 196.456070 m, nav range: 156.478363 m, bearing: 281.701075 deg, approach rate: 0.583361 m/s, LOS rate: -0.178872 deg/s, cmd heading: 279.473992 deg, new cmd heading: 279.272884 deg. Bh%HeadingCmd: 4.874231 target range: 196.456070 and range: 197.30 m.h-@h)*h)"h) h)g)f)f1f1d1d1d9jd9Zd= '!@aɢm!)i meii)mn;iqiuziuXyyI}@IyMchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.316471Yq@q @u@q@qԁE2 E2EE"Ei;*E;VEZEa@a@a@a@^A6>AfAzAgAԹ B >B B IB zBB B B B 6;B :8EIq I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=8.5668459,?AP%'?%_?%Haٱ%u} mAHRS rotation from veh to nav: [[0.639137,-0.730104,-0.241769],[0.764268,0.638087,0.093484],[0.086017,-0.244525,0.965820]]%Hs?]Jο t?5k??/?@LϿ?i%'?I%`e_;%CYyByIbDVDy>%7=ٔ 9Y=bFyD_E>Q 54x?Q 94 V)dQBYyΆ?Q I? CI$o;iAp; 4yBɮOEAEB*** querying acoustic contact ***i ijhAMFNOT Ignoring new targets: 196.46 m.RhU0MZhU0Mm ProNav: ac range: 196.456070 m, nav range: 156.743744 m, bearing: 281.615735 deg, approach rate: 0.558785 m/s, LOS rate: -0.179388 deg/s, cmd heading: 279.272884 deg, new cmd heading: 279.017298 deg. Bhu9}HeadingCmd: 4.869771 target range: 196.456070 and range: 197.30 m.h})՛@hy*hy"hy hgfffdddjdZdh!@颥{Bɢ{ɼ) i)};顱i~i괿I)՛@Imchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.819216@ @@@E 5 E 1E ,E "E k;*E f;VE g4ZE BE 4/?,?A2`!?27Y?2ٱ2S~ :AHRS rotation from veh to nav: [[0.658891,-0.714020,-0.236724],[0.747765,0.655964,0.102753],[0.081915,-0.244717,0.966128]]2H?ALο?@?N?\?`RϿ?i2`!?I2_;2CYByByBI DD|iMb@Mb@Mb@ 9 ףp= ?:v?y&1YQ8?y=`er&A@ A)AY AbDuVDu1y&%T=ٔ69Y=bFy!DHE>Q 54?Q 948P)\QBY:?Q E:yw?Q I?,CI:ia:4checking for new query: numPingsReceived=0, elapsed TxPingTime=9.071044yɮoEAjhFNOT Ignoring new targets: 196.46 m.Rh`Zh` ProNav: ac range: 196.456070 m, nav range: 156.930084 m, bearing: 281.544973 deg, approach rate: 0.517749 m/s, LOS rate: -0.196380 deg/s, cmd heading: 279.017298 deg, new cmd heading: 278.805265 deg. Bh HeadingCmd: 4.866070 target range: 196.456070 and range: 197.30 m.h ض@h *h "h  hgfff=|Bddd!jd!Zd%"@M{BɢM^)Q UiQ)Uh;YYi]Xi] daaIeض@Ia@ @@0@)Y^A5;>IIO>u checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322831ԁ F,?A2?2|R?2ٱ2mT} :AHRS rotation from veh to nav: [[0.678548,-0.697427,-0.230580],[0.730451,0.673789,0.111579],[0.077545,-0.244139,0.966635]]2H ?RQͿ@_?`?@j? ٳ? ?Ͽ ?i2?I2>_;2CYVyByVIbEE(N4jEEK4rEE/EbJ Eb6Eb*E`"Eb~;*Eb ;VEb(N4ZE`aj@aj@aj@aj@bDnVDnkyvZ3%vT=ٔz:9xYx=~bFy~)D~ˋE>Q 5 4?Q 9 4@J)SQBYy%q?Q I?PCIB:i:J4yBɮ%EA%EjhAMFNOT Ignoring new targets: 196.46 m.RhMGaZhMGaYe ProNav: ac range: 196.456070 m, nav range: 157.119507 m, bearing: 281.469453 deg, approach rate: 0.494608 m/s, LOS rate: -0.196953 deg/s, cmd heading: 278.805262 deg, new cmd heading: 278.578979 deg. Bhe*mHeadingCmd: 4.862121 target range: 196.456070 and range: 197.30 m.hm~@hi*hi"hq hqgqfqfyfydydydjdZdq#@颭{Bɢ) Yi)FP;项i0it嵿I~@IQ@Q @Q@U14@QB>B.CBIBvzBB =BBDBR;BL8Eԉchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.574993^A56>AM>AM>ԱII)O=> 4DL,r3?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=9.8268906?6>K?6͕ٱ6>{ BAHRS rotation from veh to nav: [[0.698063,-0.680336,-0.223272],[0.712297,0.691621,0.119557],[0.073081,-0.242494,0.967396]]6HV?`P@/̿#?!?`G?l?` Ͽ ?i6?I6 _;4YDyDiMb@Mb@Mb@ 9?Q?Zd;Y,?yu=y@ A)GAYAbD-VD-0y=d%=E=ٔE09AYA=MbFyM1DMEM>QQ 5]4U.?Q 9]4UD)UIQBYe..?Q Ee:ye[?Q Ie?UtCIUv:iU:U4yiɮmEAqԱjh15FNOT Ignoring new targets: 196.46 m.Rh=^UZh=^UM ProNav: ac range: 196.456070 m, nav range: 157.292404 m, bearing: 281.388229 deg, approach rate: 0.397514 m/s, LOS rate: -0.186540 deg/s, cmd heading: 278.578991 deg, new cmd heading: 278.335588 deg. BhmuHeadingCmd: 4.857872 target range: 196.456070 and range: 197.30 m.hus@hq*hq"hq hqgyfyfyf} |BdddjdZd^Q$@{Bɢ;) ci))-*4;))i-i5p11I5s@I9E^ E\E,E"E;*E ;VEg4ZEBEA A I I O >(S,1@M?A> ?>D?>*ٱ> y FAHRS rotation from veh to nav: [[0.717007,-0.662867,-0.215657],[0.693713,0.708857,0.127607],[0.068284,-0.241099,0.968095]]>H ?46˿2? ?mU? {?Xο?i> ?I>_;>CYNyByNqIIR=)R=V@AVAAbDZVDZyb4%bS=ٔbiK9dYd=fbFyf9DjEj>lQ 5r4n?Q 9r4n?)n>QBYpyr8U?Q Iv?nCInn;in;nM4yzBɮz4FAzEjhFNOT Ignoring new targets: 196.46 m.Rh%)pZh%)p5 ProNav: ac range: 196.456070 m, nav range: 157.448486 m, bearing: 281.311077 deg, approach rate: 0.425190 m/s, LOS rate: -0.209965 deg/s, cmd heading: 278.335591 deg, new cmd heading: 278.104365 deg. Bh5=HeadingCmd: 4.853837 target range: 196.456070 and range: 197.30 m.h=R@h9*h9"h9 h9gAfAfAfAdIdIdIjdIZdMI %@}{Bɢ}d)y }Zi);顁iiIR@I@ @@/@E2Acoustic response timeoutA^A6>DzDAAE EhE*E"E;*E^%;VE(N4ZEa@a@a@a@qII O >B >B /CB IB MzBB =B B B C;B B8EBu0CBu0CBuɔCBuɰ =Buɲ =Cu3S6 2Acoustic response timeoutԙ 9Y=%bFy%BD5E=>YqQ 54]Ö?Q 94]9)]1QBYyQ I?]CI] 1A zA fAE  E E -E "E ;*E *5;VE t4ZE BE :`,?A:1>: 6?:pٱ:r FAHRS rotation from veh to nav: [[0.754059,-0.626524,-0.197137],[0.654171,0.743270,0.140037],[0.058790,-0.234558,0.970323]]:H?!?| ;ɿ@? ???@ο` ?i:1>I:v$`;8YJyByNrIiMb@Mb@Mb@ 9x&1?9IYQ=UbFyUJDUEU>YQ 5e4]Җ?Q 9e4]v5)YYm!?Q Em:ym6?Q Im?]۲CI]]:i]:]4yuBɮuFAyjhFNOT Ignoring new targets: 196.46 m.RhvZhv2Acoustic response timeout ProNav: ac range: 196.456070 m, nav range: 157.748367 m, bearing: 281.146788 deg, approach rate: 0.340086 m/s, LOS rate: -0.215929 deg/s, cmd heading: 277.833736 deg, new cmd heading: 277.612004 deg. Bh0HeadingCmd: 4.845243 target range: 196.456070 and range: 197.30 m.h< @h*h"h hgffQfUG{BdYdYdYjdYZd]`Ѻ&@{BɢV*) i):iYri|I< @I@ @@/@^A1 IQ Ia m =i u 2Acoustic response timeoutO} >Y gf,ޚ?A6&>6/?6\ٱ6?r BAHRS rotation from veh to nav: [[0.771931,-0.606924,-0.189117],[0.633424,0.759521,0.147991],[0.053819,-0.234030,0.970738]]6H`?k`5ȿE?M?@]?:?@Ϳ J?i6&>I6`;6CYFyByJ~IER ERsER(EP"ER[;*ER)+;VERc44ZEPaV@aV@aV@aV@ TTbD^VD^:yf:=%fR=ٔfQ9hYh=nbFynRDnCEn>pQ 5v4r▊?Q 9v4r[1)r/QBYtyz/?Q Iz?rCIr`:irW:r4y~`Bɮ~DA|jh!-FNOT Ignoring new targets: 196.46 m.Rh-4gZh-4g= ProNav: ac range: 196.456070 m, nav range: 157.864868 m, bearing: 281.068136 deg, approach rate: 0.299627 m/s, LOS rate: -0.202135 deg/s, cmd heading: 277.612001 deg, new cmd heading: 277.376220 deg. Bh= EHeadingCmd: 4.841128 target range: 196.456070 and range: 197.30 m.hE@hA*hI"hI hIgIfIfQfQdQdYdYjdYZd]$y'@颍{Bɢ^) Fi)C:顑iV慼iSI@I)B]>BYB]IB]zBB] =BYBYB],;B],8E@ @@/@2Acoustic response timeoutY^A-6>IIO>ԁ 4l,?A2Acoustic response timeout0:>:(?:cGٱ:s BAHRS rotation from veh to nav: [[0.789683,-0.585932,-0.181891],[0.611580,0.775330,0.157588],[0.048690,-0.235685,0.970609]]:HE?@5Hǿ??+? ?*ο:?i:>I:W`;:CYRyByR|Ii%Mb@Mb@Mb@!!!! !9%Gz?~jt:vY%p?y%ļ%Լ%IA%@ %p A)%1A!Y%p AbDVDkyû%<=ٔA9Y=bFy[D E>Q 54?Q 94R-)4QBY?Q E:ys?Q I?CI ;iC:%4yfBɮDAxEjhFNOT Ignoring new targets: 196.46 m.RhRiZhRi- ProNav: ac range: 196.456070 m, nav range: 157.973526 m, bearing: 280.979562 deg, approach rate: 0.250409 m/s, LOS rate: -0.203984 deg/s, cmd heading: 277.376222 deg, new cmd heading: 277.110685 deg. Bh- EHeadingCmd: 4.836494 target range: 196.456070 and range: 197.30 m.hEĚ@hI*hI"hQ hYgafafafezBdididijdiZduY(@额{BɢԴ)ak Si)<:顡ic\i.-IĚ@IԑE EvE+E"EI;*E,;VE [4ZEBEAu>IIO hxs,??A\Y=yBy=uIbDMVDMy]%]Q=ٔ]Q-e>9aYa=ecFyecDmEm>qQ 5}4u?Q 9}4u))u8QBYyyQ I?u EBDAT read: Tx time:04:09:26.5311 E$Ping request sent.EBM >BM -CBM IBM yBBM =BI BM DBM ;BM 8E q u CI I :G O > A M 9I YM wA checking for new query: numPingsReceived=0, elapsed TxPingTime=0.2499838y,c?ABK>BH?BUٱBz JAHRS rotation from veh to nav: [[0.823198,-0.542149,-0.168582],[0.566417,0.804591,0.178340],[0.038953,-0.242297,0.969420]]BH W?@HY@ſ ?5? ??Ͽ|?iBK>IBʚ_;BCYVyByZIId)fp;bD VD:2!y`=% @=̺ٔ91YY=ecFyelDmE>Q 54J?Q 94%):QBYy ?Q I?_CI;ir;34ybBɮDAyE=B*** querying acoustic contact ***i9 i9jhIMFNOT Ignoring new targets: 196.46 m.RhujZhuj ProNav: ac range: 196.456070 m, nav range: 158.169876 m, bearing: 280.806889 deg, approach rate: 0.216770 m/s, LOS rate: -0.205294 deg/s, cmd heading: 276.871198 deg, new cmd heading: 276.593005 deg. Bh HeadingCmd: 4.827459 target range: 196.456070 and range: 197.30 m.hz@h*h"h hgfffdddjdZd`F*@I颭{Bɢ)  i)顱i솼i@UIz@IEchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502034]9@Y @Y@]Z0@aqE  E E )E "E ;*E =;VE FA4ZE BE j A I I O >,?Anchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.753986pYyByIiMb@Mb@Mb@ 9n?ˡEMbP?Y?y':A@ - A)AYzAbD-VD-y==%=;=ٔ=Q-=>9AYA=EcFyEtDEEM>QQ 5U4U*?Q 9]4U")UHQBY]b?Q E]:y] ?Q I]?U~CIUn:iU':U;4yiɮm DAijhFNOT Ignoring new targets: 196.46 m.RhOjZhOj ProNav: ac range: 196.456070 m, nav range: 158.253006 m, bearing: 280.723729 deg, approach rate: 0.204882 m/s, LOS rate: -0.204849 deg/s, cmd heading: 276.593018 deg, new cmd heading: 276.343669 deg. Bh HeadingCmd: 4.823107 target range: 196.456070 and range: 197.30 m.hV@h*h"h hgfffzBdddjdZd*@)ɢ5]7)9 =1i9)EraIIiM}i]㺿YYI]V@I )cռI ) checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006627 9@  @ @ 0@ @ @ y E  E E *E "E ;*E 86;VE (N4ZE a @a @a% @a% @ԉ ^A;>A zA eAB>B,CBBB =BBB;B7Ei9I9Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258659AU.AIYIqO} ?\),&m&?AYyByI bD%VD%y=;=%E!=ٔIQ->9 ?Y ?=cFyDE>AQ 54EA?Q 94E^)E[QBYyQ I ?ECIE-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762386!A=؟AIIIaO}?,K?AN눍>N;5>NMٱN-o| VAHRS rotation from veh to nav: [[0.880002,-0.455915,-0.133186],[0.474535,0.855930,0.205428],[0.020340,-0.243978,0.969567]]NH(?@-ݿ ; ^?c?@uK? Ԕ?:Ͽ@?iN눍>INp_;NCY^1zBy^IiEMb@Mb@Mb@AAAA A9E5^I ?y&1{Gz?YE?yE`弙E#9"?Y"?=cFyD DE>Q 54Z?Q 94)kQBYA?Q E:y>Q I?ѳCI:i#:'N4y\Bɮ BAzEjh FNOT Ignoring new targets: 196.46 m.RhZh- ProNav: ac range: 196.456070 m, nav range: 158.448914 m, bearing: 280.500810 deg, approach rate: 0.172658 m/s, LOS rate: -0.226737 deg/s, cmd heading: 276.021577 deg, new cmd heading: 275.675323 deg. Bh-5HeadingCmd: 4.811442 target range: 196.456070 and range: 197.30 m.h5U@h1*h1"h1 h1g1f9f9f='{Bd9dAdAjdAZdE V -@u{Bɢu뽼)q uiq)}Эyyi}򐇼ibIU@IUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.0139999@ @@@bEajEeOS4rEe١/E EE*E"E+;*EpD;VE(N4ZEa@a@a@a@B1 A5 <B9 B9 B= IB= zBB9 B9 B9 B= Ձ;B= 7EQ ^A! % checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270056qIIO>:,j?A^&>^x>^Jٱ^/z uAHRS rotation from veh to nav: [[0.892231,-0.434370,-0.123477],[0.451277,0.867654,0.208627],[0.016514,-0.241866,0.970169]]^H'?`ۿ6?@?J??`wο ?i^&>I^_;^CY`zByII>);bDVD0y5D=%=#=ٔMo;Q-M>9YYY=cFyDME>Q 54r?Q 9%4.)yQBY!y%k>Q I%?CI;iT;GW4y-YBɮ5KAA5{EmB*** querying acoustic contact ***ii iijhyFNOT Ignoring new targets: 196.46 m.RhjZhj ProNav: ac range: 196.456070 m, nav range: 158.523956 m, bearing: 280.391979 deg, approach rate: 0.141582 m/s, LOS rate: -0.205232 deg/s, cmd heading: 275.675314 deg, new cmd heading: 275.348979 deg. Bh HeadingCmd: 4.805746 target range: 196.456070 and range: 197.30 m.hș@h*h"h hgfffdddjdZd.@ɢ) i)Qٺi;ri  I ș@I >i>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522360@ @@@9 E}  E} E} +Ey "E} R;*E} =;VE} [4ZEy BE} =a 2E} =a JE} X,'?ANchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.774083^RL>^>^c'ٱ^ z fAHRS rotation from veh to nav: [[0.913998,-0.391303,-0.107188],[0.405589,0.887919,0.217022],[0.010252,-0.241832,0.970264]]^H y??` ٿp*? i?`?@4?@Xο g ?i^RL>I^P_;^CYnzBynIieMb@Mb@Mb@aaaa a9e333333?I +?Mbp?Ye?ye94%G=ٔs{9Y=cFyDE>Q 54?Q 94)|QBY?Q E:y>Q I?CIX ;i ; ^4yɮn@AqjhFNOT Ignoring new targets: 196.46 m.RhiZhi ProNav: ac range: 196.456070 m, nav range: 158.582947 m, bearing: 280.310650 deg, approach rate: 0.147818 m/s, LOS rate: -0.203718 deg/s, cmd heading: 275.348968 deg, new cmd heading: 275.105074 deg. Bh HeadingCmd: 4.801489 target range: 196.456070 and range: 197.30 m.hͥ@h*h"h hgfff{Bdd!dAjdIZdM@.@qɢu=3)y }iy)}fyyi}(5i7Iͥ@IY@Y @Y@]/@YԙMchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.026003^A Ii I O >D D <E  E E ,E "E @;*E >;VE g4ZE a @a @a @a @ ~,zp?AB3>B4>BٱB{ NAHRS rotation from veh to nav: [[0.923743,-0.369632,-0.100354],[0.382931,0.896698,0.222029],[0.007919,-0.243526,0.969862]]BHM? ׿Ѱ?࿱? rk?7?@+Ͽ ?iB3>IBw_;BCYVzByV3IbD^VD^yf=%fX=ٔf`;Q-j>9hYh=jcFyjDnEU>YQ 5e4]Ɩ?Q 9e4])]QBYaye#>Q Im?]5CI]|:i]t:]d4yuVBɮu?Au|EB>BBIBazBB =BBB;B7EBm,CBm-CBiBm =Bm =CmՀ6jhFNOT Ignoring new targets: 196.46 m.RhzZhz ProNav: ac range: 196.456070 m, nav range: 158.637512 m, bearing: 280.227657 deg, approach rate: 0.144072 m/s, LOS rate: -0.219054 deg/s, cmd heading: 275.105075 deg, new cmd heading: 274.856185 deg. BhUHeadingCmd: 4.797145 target range: 196.456070 and range: 197.30 m.h7@h*h"h hgfffdddjdZd/@!ɢ%7H)! %#Zi))-))i-i5611I57@I9BDAT read: Rx Time:04:09:29.1476 TRx dataTimestamp_ set to:1761538170.612324checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279239@ @@1@ ^A+>IqIO>) e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529958:,=H?AFUP>F~Լ>F佻ٱF{ NAHRS rotation from veh to nav: [[0.932742,-0.348361,-0.092937],[0.360498,0.905248,0.224871],[0.005795,-0.243250,0.969946]]FH`?Kֿʷh???w?"Ͽ ?iFUP>IF X_;FCYVzByVRI XXi5Mb@Mb@Mb@1111 1951Zd?p= ף?Mb`Y5"?y5=55A5@ 5tA)11Y5(AbDMVDMy]=%]A=ٔe;Q-e>9aYi=mcFymDm8jEm>qQ 5%4ue?Q 9-4u#)uyQBY=?Q EE:yE~>Q IM?uUCIu<E EE*E"EC;*EC;VE(N4ZEBEo=a2Eo=aJEV?@nF9@  )뜓@I >c{C㿇!?c\%A v@)L2=Iտi >T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ԩ ^A 3>I) I9 OE >/,#?A@F*>F뇰>FzٱF{ ZAHRS rotation from veh to nav: [[0.941141,-0.326968,-0.085710],[0.337994,0.913192,0.227684],[0.003824,-0.243252,0.969956]]FH?@ Կ`?`8?$?So?"Ͽ ?iF*>IFL_;FCY~{By~jI ; bDVDβy%q=%%N=ٔ%;Q-->9)Y)=-cFy-D55xE5>9Q 5E4=?Q 9E4=c )=rQBYAyE2>Q IM?=tCI=y:i= :=r4yUBɮUtj"C@&:cO ,_1@Z.1?D1m ?2i:iB"ioaT?*iBiIBioaT?iii Ci}z@ addTargetRange:: Added new target pos. range: 159.300003 m, deltaT: 16.388023 s, deltaX: -38.000000 m, approachRate: -2.318767 m/s, rangeRepo size: 3  Added new target pos. range: 158.604050 m, bearing: 284.047785 deg, lat: 36.779539 deg, lon: -121.859548 deg, deltaT: 16.388023 s, deltaX: -37.852020 m, approachRate: -2.309737 m/s, posRepo size: 3 jhFNOT Ignoring new targets: 158.60 m.RhZh ProNav: ac range: 158.604050 m, nav range: 160.949356 m, bearing: 283.754599 deg, approach rate: 0.000000 m/s, LOS rate: -0.182568 deg/s, cmd heading: 274.599122 deg, new cmd heading: 274.416708 deg. BhHeadingCmd: 4.789475 target range: 158.604050 and range: 159.30 m.haC@h*h"h hgfffdddjdc@Zd@ t?(DAT read: user:59> %BDAT read: Tx time:04:09:30.4811 %$Ping request sent.%BB3IBzBB =BBBŁ;B7E^A;>I I) O5 > checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250898 ,?AlY5{By}IbDVDy=%%;=ٔ5Q-5>9AYI=McFyMD]Ee>iQ 5u4mRЗ?Q 9u4mN )mkQBYqyqQ I}?mCIm/:im:mz4yBɮ;AtEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 158.60 m.RhztZhzt ProNav: ac range: 158.604050 m, nav range: 161.005402 m, bearing: 283.660266 deg, approach rate: 0.127031 m/s, LOS rate: -0.213738 deg/s, cmd heading: 274.416702 deg, new cmd heading: 274.133803 deg. BhHeadingCmd: 4.784537 target range: 158.604050 and range: 159.30 m.h@h*h"h hgfffdddjdZd ?aɢm )i mĽii)mqqiupiuӿyI@I%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502912Q@Q @Q@U4@Q1E EE+E"EϢ;*E8;VE [4ZEBE =a2E =aJEA  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755232I I O >,^M?A2?ԥ=2e!>2'ٱ2| :AHRS rotation from veh to nav: [[0.955607,-0.285599,-0.072446],[0.294644,0.926700,0.233263],[0.000516,-0.244254,0.969711]]2H U? BGҿ ˋ r?`??`@?CϿ?i2?ԥ=I2.w`;2CYBB{ByBIDiMb@Mb@Mb@ 95^I ?`"?Zd;OY?y=j3A ^A)AYAbDVDyf<%A=ٔ9Y=cFyD%߽E%>)Q 554-㗊?Q 954-7)-UQBY5L?Q E5:y5O>Q I5?-CI-j:i-:-4yAɮE;AAjhimFNOT Ignoring new targets: 158.60 m.RhunZhun ProNav: ac range: 158.604050 m, nav range: 161.067078 m, bearing: 283.573352 deg, approach rate: 0.148092 m/s, LOS rate: -0.208612 deg/s, cmd heading: 274.133795 deg, new cmd heading: 273.873155 deg. Bh+HeadingCmd: 4.779988 target range: 158.604050 and range: 159.30 m.h@h*h"h hgfff{BdddjdZd@?-{Bɢ-2 )) 5.i1)511i5=i]hYYIe@IaIi)iԹ@ @@/@@?>@G>߅?߅1@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007082^AQ  E  E E *E "E ;*E UB;VE (N4ZE a @a @a @a @A I I O >`,!?ABV>BTBVqIBV"{BBTBTBTBV;BV7EnɀGzgA  =9=gAY=GAM5l=M>>MNP:ٱM ~ eAHRS rotation from veh to nav: [[0.962190,-0.264227,-0.066143],[0.272379,0.932677,0.236480],[-0.000795,-0.245555,0.969382]]MH@B?п@n?}? D?@ JXnϿ .?iM5l=IM1Ya;MCYu{ByuIBAbDVDky",>%T=ٔ^;Q->9Y=cFyDvE>Q 54?Q 94|)AQBYy_>Q I?ԴCI;i7 ;ˆ4yBɮg:AjhFNOT Ignoring new targets: 158.60 m.RhuoZhuo ProNav: ac range: 158.604050 m, nav range: 161.119186 m, bearing: 283.492576 deg, approach rate: 0.135154 m/s, LOS rate: -0.209440 deg/s, cmd heading: 273.873155 deg, new cmd heading: 273.630906 deg. BhHeadingCmd: 4.775760 target range: 158.604050 and range: 159.30 m.hӘ@h*h"h hgfffdddjdZd?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259003{Bɢx) (i!)%!!i%i-M)IIMӘ@IQ1@  @ @ @ a^Ai ԉ  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511900A I I O >D,;?A:=:Ҟ>:W:ٱ: FAHRS rotation from veh to nav: [[0.968123,-0.243113,-0.060280],[0.250469,0.938010,0.239590],[-0.001704,-0.247051,0.969001]]:H?QϿ ݮ@?,??@[[Ͽ?i:=I:4`;:CYN{ByNIiMb@Mb@Mb@ 9S?(\?~jtY?yz>A )AYzAbD5VD5 yM<%MO=ٔMJ;Q-M>9QYQ=UcFyUDUlYE]>aQ 5m4e ?Q 9m4e)e#QBYuP?Q Eu:yu>Q Iu?eCIe:ie:e4yyɮL:AjhFNOT Ignoring new targets: 158.60 m.RhttZhttE EE-E"E;*E=;VEt4ZEBE@,V?A2cI<2k>2yA;ٱ2Ȓ~ :AHRS rotation from veh to nav: [[0.973572,-0.221924,-0.053927],[0.228370,0.943508,0.240083],[-0.002400,-0.246053,0.969253]]2H'?@h̿U 8;?71??-c@~Ͽ?i2cI9V ?YV ?=VcFyVDZ1pEZ>\Q 5b4^B?Q 9b4^)^QBY`yf>Q If?^CI^:i^B:^m4yjBɮj9AjuEjh|~FNOT Ignoring new targets: 158.60 m.RhuZhu=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014969ԑ ProNav: ac range: 158.604050 m, nav range: 161.225479 m, bearing: 283.324950 deg, approach rate: 0.129504 m/s, LOS rate: -0.214768 deg/s, cmd heading: 273.377802 deg, new cmd heading: 273.128195 deg. BhdHeadingCmd: 4.766986 target range: 158.604050 and range: 159.30 m.h'@h*h"h hgfffdddjdZdM@]{Bɢ][M̺)Y ]Ei}>!@! @!@%70@!@)@)E EE)E"E;*E>;VEFA4ZEa@a@Թa@a@BqAqB}>ByB}IB}~{BByByByB}p;B}^7E^A)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266746A I I O > Di,o?AE @E@T>El[;ٱE~ AHRS rotation from veh to nav: [[0.978463,-0.200879,-0.047518],[0.206395,0.948325,0.241000],[-0.003350,-0.245617,0.969361]]EHO?@dɿ@@T'k?@X?@? jpkbpϿ?iE @IEl_;ECY{ByIiMb@Mb@Mb@ 9bX9?w/?J +YE?y&>H A)AY bDVD:yuj=%,=ٔ;Q->9Y=cFyDAE>Q 54/?Q 94)PBYv?Q E:yJ>Q I?7CI;i;4yɮ 69A %B*** querying acoustic contact ***i! i!jh15FNOT Ignoring new targets: 158.60 m.Rh=ZoZh=ZoM ProNav: ac range: 158.604050 m, nav range: 161.288239 m, bearing: 283.225263 deg, approach rate: 0.131793 m/s, LOS rate: -0.209258 deg/s, cmd heading: 273.128200 deg, new cmd heading: 272.829260 deg. BhMUHeadingCmd: 4.761769 target range: 158.604050 and range: 159.30 m.hUi`@hQ*hQ"hY hYgYfYfYfe|BdadadijdiZdm@@颕{Bɢ@ 9) =i)/顙iʅiƽ¿Ii`@IMchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519045!@! @!@%0@!AE EEE"E[;*E3;VEZEBE=a2E=aJEfq A ؟AI I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770887sP,괉?Az@z m=>z;ٱzB  AHRS rotation from veh to nav: [[0.982930,-0.179246,-0.041455],[0.183932,0.952404,0.243096],[-0.004092,-0.246571,0.969116]]zH*t?ƿ`9? z?? :pϿ?iz@Iz_;zCY{ByIbD-VD-y=3 <%=i=ٔ= ;Q-=>9E"?YE"?=EcFyEDMEM>QQ 5]4UN??Q 9]4UE)UPBYYy]>Q I]?URCIUQ;iU;Uޤ4ymBɮm9AmvEjhFNOT Ignoring new targets: 158.60 m.Rh)qZh)q ProNav: ac range: 158.604050 m, nav range: 161.330063 m, bearing: 283.151432 deg, approach rate: 0.119469 m/s, LOS rate: -0.210840 deg/s, cmd heading: 272.829256 deg, new cmd heading: 272.607822 deg. BhHeadingCmd: 4.757904 target range: 158.604050 and range: 159.30 m.h@@h*h"h hgfffdddjdZdQ@Q颕{Bɢo:) @#=i)顙i4ii<ÿI@@I @ @@4@y]BDAT read: Rx Time:04:09:33.0991 eTRx dataTimestamp_ set to:1761538174.392622echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.024375ԩ^A D =D bEM [4jEMʞ]4rEM/E  E E -E "E ;*E E7;VE t4ZE a @a @a @a @AQ Ia Iq O > x,{?AB>BBIB{BBBBB@;B.7EFE@F@%>FH\;ٱFɂ~ RAHRS rotation from veh to nav: [[0.986880,-0.157545,-0.035312],[0.161388,0.956383,0.243488],[-0.004589,-0.245992,0.969261]]FH?k*Ŀa^??*?r@|Ͽ/?iFE@IF_;FCYV{ByZIbDVD:2y%}w<%%L=ٔ%a:Q-->9)Y)=-cFy-D5jE5>9Q 5E4=R?Q 9E4=)=PBYAyM>Q IM?=qCI= :i=:=ޫ4yUBɮU8AUwEjhy}FNOT Ignoring new targets: 158.60 m.RhqZhq ProNav: ac range: 158.604050 m, nav range: 161.372742 m, bearing: 283.066765 deg, approach rate: 0.106503 m/s, LOS rate: -0.211227 deg/s, cmd heading: 272.607822 deg, new cmd heading: 272.353888 deg. BhHeadingCmd: 4.753472 target range: 158.604050 and range: 159.30 m.hq@h*h"h hgfffdddjdZd` @{BɢB_:) T6=i)li"iÿIq@IԱchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.276930@ @@/@^A;>A>A> AA II IY m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526926Ou >I r,Pn?AB݊@B>Bi;ٱBz JAHRS rotation from veh to nav: [[0.990289,-0.136034,-0.028671],[0.138924,0.960554,0.240907],[-0.005231,-0.242551,0.970125]]BHr?`i \@F?ۼ?@ ?1mu ϿB ?iB݊@IB_;BCYR{ByRIi-Mb@Mb@Mb@)))) )9-Zd;?ףp= ?y&1Y-?y->-`e)) -^A)-tA)Y)AEAAbDEVDEβyU<%]G=ٔ]:Q-]>9aYa=ecFyeDe1bEe>iE} E}E},Ey"E};*E},?;VE}g4ZEyBE}e=a2E}e=aJE}hQ I?mCIm;im7;m4yɮ8AjhmFNOT Ignoring new targets: 158.60 m.RhuluZhulu ProNav: ac range: 158.604050 m, nav range: 161.407104 m, bearing: 282.977674 deg, approach rate: 0.082777 m/s, LOS rate: -0.214564 deg/s, cmd heading: 272.353875 deg, new cmd heading: 272.086663 deg. Bh@HeadingCmd: 4.748808 target range: 158.604050 and range: 159.30 m.h<@h*h"h hgfff|BdddjdZd vx@ M{BɢM:)I M@K=iI)UQQiU}i]{fĿYYI]<@Ia@ @@/@9EDAT read: 04:09:33.0991 LVL= 26944, 23009, 17202, 28243, AGC= 62, IDX= 442, 0.21,-1.969,-0.881, 0.114,-0.940, PHS=-0.928, 0.104, 1.009, RAW= 242.2, -2.2, CAL= 238.8, -3.5, ROT= 271.2, 3.5 ]Ygot valid direction response: 04:09:33.0991 LVL= 26944, 23009, 17202, 28243, AGC= 62, IDX= 442, 0.21,-1.969,-0.881, 0.114,-0.940, PHS=-0.928, 0.104, 1.009, RAW= 242.2, -2.2, CAL= 238.8, -3.5, ROT= 271.2, 3.5 ePDAT read: Bearing 77.3, -72.2 (Local) e~Local bearing/azimuth received: Bearing 77.3, -72.2 (Local) }DAT read: Range 11 to 50 : 160.3 m (Round-trip 213.8 ms) speed -0.3 m/s R#Rx 1: Read range and direction messages.`direction in FSK: [0.020904,-0.997916,-0.061049]Fpublishing direction and range infoyLng? :tL￟.xAYL C@iY2C Sn)>Ihmi=&?E@nF^@ 5z)ww@I5z=eBF4?C zv@)O=Iaƿi5z=T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.a ^Am E>A .AI I O >,B?A(>@>m=>b;ٱ>Dx JAHRS rotation from veh to nav: [[0.993215,-0.114114,-0.022422],[0.116155,0.963920,0.239511],[-0.005719,-0.240490,0.970635]]>H j?6`W?o?M?`Mlw dοp?i>@I>_;>CYN{ByRIbDZVDZyb.%bU=ٔb+:Q-b>9f ?Yf ?=fcFyfDjtEj>lQ 5r4nx?Q 9r4nM)nGPBYtyvq>Q Iv?nCIn:in:nɹ4yzBɮz8AzxE%(DAT read: user:60> %BDAT read: Tx time:04:09:34.4811 -$Ping request sent.-B!B%IB%{BB% =B!B!B%+;B%7EBB,CBœCBŻ =BŻ =C`4ԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.252009^AJ> A I I O- >ʴ,r?APf<@fI=f;ٱfzx  AHRS rotation from veh to nav: [[0.995623,-0.091971,-0.016592],[0.093264,0.966444,0.239350],[-0.005978,-0.239850,0.970792]]fH%?nu.? ??|xiο`?if<@IfB_;fCY={ByEI bD VD βym%=%u2=ٔub:Q-u>9yYy=}cFy}D}uME>Q 54p?Q 94)PBYy>Q I?ԵCI;i;4yBɮ8AnEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 159.60 m.Rh|Zh| ProNav: ac range: 159.600815 m, nav range: 161.460678 m, bearing: 282.794320 deg, approach rate: 0.058493 m/s, LOS rate: -0.221049 deg/s, cmd heading: 271.836311 deg, new cmd heading: 271.537208 deg. BhHeadingCmd: 4.739218 target range: 159.600815 and range: 160.30 m.h@h*hi"hi higqfqfqfqdydydyjdyZd}u?{Bɢ@?9) x"=i)1i*+iſI@I5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502904@ @@/@E EEE"EϢ;*E86;VEZEBE =a2E =aJE)  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755668A5 ؟AII Ia O} >|,K ?A;ɰ;RgR@R@T=R8;ٱRBx ZAHRS rotation from veh to nav: [[0.997532,-0.069400,-0.010654],[0.069926,0.968272,0.239917],[-0.006334,-0.240070,0.970735]]RH@?`+ı@҅ ???[y`οB?iRgR@IR_;RCYb{BybIhiUMb@Mb@Mb@QQQQ Q9U^I +?㥛 ?V-YUX?yU>UmUIAU@ UA)UAQYUA ep9"?Y"?=cFyD}E>Q 54*?Q 94L)OBY?Q E:y>Q I?CI{;i;eȗ4yBɮ8AoEjhFNOT Ignoring new targets: 159.60 m.RhwZhwm ProNav: ac range: 159.600815 m, nav range: 161.474045 m, bearing: 282.712400 deg, approach rate: 0.035376 m/s, LOS rate: -0.216789 deg/s, cmd heading: 271.537203 deg, new cmd heading: 271.291465 deg. BhmuHeadingCmd: 4.734929 target range: 159.600815 and range: 160.30 m.hu@hq*hq"hq hqgyfyfyf}|BdddjdZd ?{Bɢ@K8) 0=i)ii-D-ƿ))I-@I1@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006864)^A ;>Y D} =D} <E  E E -E "E s;*E E7;VE t4ZE a @a @a @a @A1 I9 II O] >B >B B IB {BB B B B ;B 7E, % ?A:@:==:v;ٱ:y BAHRS rotation from veh to nav: [[0.998905,-0.046516,-0.005047],[0.046356,0.969244,0.241696],[-0.006351,-0.241665,0.970339]]:H@?`Ч`t? ? ?@zο` ?i:@I:k_;8YJ{ByJIbDVVDV:yZo%^X=ٔ^JD8Q-^>9`Y`=bcFyb DfEf>hQ 5j4j?Q 9n4j)jOBYlynZ>Q In?jCIj/;ij;jΗ4yvBɮv8AvpEjhFNOT Ignoring new targets: 159.60 m.RhexZhex- ProNav: ac range: 159.600815 m, nav range: 161.482224 m, bearing: 282.630464 deg, approach rate: 0.021678 m/s, LOS rate: -0.217164 deg/s, cmd heading: 271.291453 deg, new cmd heading: 271.045659 deg. Bh- 5HeadingCmd: 4.730639 target range: 159.600815 and range: 160.30 m.h5ea@h1*h1"h1 h1g1f99fAfAdAdAdIjdIZdMR?u{Bɢuq ) Si) ʼ  i ΄checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259385iU׹ƿIea@Iiq@q @y@}1@yԙ^A5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511328 A I I O% >(,> ?A2@2<25;ٱ2Ny :AHRS rotation from veh to nav: [[0.999716,-0.023822,0.000246],[0.023058,0.970168,0.241334],[-0.005988,-0.241260,0.970442]]2H?d!0? ? ?@ ?ೆx ο@ ?i2@I2X_;2CYB{ByFIi Mb@Mb@Mb@     9 7A`?X9v?J +Y ?y = H 3A  )  Y AbD%VD%1y5 %5B=E EE(E"Eް;*E<;VEc44ZEBE0=a2E0=aJE9Y=cFy)D[E>Q 54|ʘ?Q 94i)OBY?Q E:yrJ>Q I?1CIS;i;֗4yɮ+9AjhIMFNOT Ignoring new targets: 159.60 m.RhUmZhUm ProNav: ac range: 159.600815 m, nav range: 161.476517 m, bearing: 282.538212 deg, approach rate: -0.012851 m/s, LOS rate: -0.207743 deg/s, cmd heading: 271.045648 deg, new cmd heading: 270.768885 deg. BhHeadingCmd: 4.725809 target range: 159.600815 and range: 160.30 m.h9@h*h"h hgfffL|BdddjdZd?{BɢVr) i)i.i Xǿ  I%9@I1]t>i]%>@ @@4@@J>@a>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764490^AA .A! I) IA OM >,XX ?A>\@> 8>1F;ٱ>Ku JAHRS rotation from veh to nav: [[0.999983,-0.001435,0.005721],[0.000033,0.971312,0.237809],[-0.005898,-0.237805,0.971295]]>H?!Wnw???p?(xdpο@?i>\@I>ڃ_;>CYR{ByRIXZ@AbD^VD^k1yfٻ%fQ=ٔfpQ-f>9j ?Yj ?=jcFyj0Dj|En>rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014853tQ 5z4vݘ?Q 9z4vb)vOBYxy~Q3>Q I~?vMCIvI;iva;v-ݗ4yBɮ 9Ajh)5FNOT Ignoring new targets: 159.60 m.Rh5\wZh5\wE ProNav: ac range: 159.600815 m, nav range: 161.466873 m, bearing: 282.458720 deg, approach rate: -0.026234 m/s, LOS rate: -0.216259 deg/s, cmd heading: 270.768889 deg, new cmd heading: 270.530399 deg. BhEjMHeadingCmd: 4.721646 target range: 159.600815 and range: 160.30 m.hM@hI*hQ"hQ hQgQfQfYfYdYdYdajdaZdecE@颍{BɢJ) ߼i)}Y顑i4HiǿI@IQ@Q @Q@U/@QPExceeded connect timeout, disconnecting.DzDE EE,E"Ȩ;*E:;VEg4ZEa@a@a@a@ !=G]hAqB>BBIB{BB =BBB;B6E9hAYA^A@>Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267564A ؟AI I O >y ,r ?AF[\@F W@Fҍ;ٱFNKv nAHRS rotation from veh to nav: [[0.999731,0.020601,0.010662],[-0.022548,0.970996,0.238029],[-0.005449,-0.238206,0.971199]]FH? ?@Յ?f?@w?Qv}ο?iF[\@IF\_;FCY v{ByIbDVDܲy%x%-6=QٔeрQ->9"?Y"?=cFy:DHE>Q 54?Q 94J)iOBYy!>Q I?pCI:i-:54yBɮR9AqEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 159.60 m.RhqZhq5 ProNav: ac range: 159.600815 m, nav range: 161.449295 m, bearing: 282.361614 deg, approach rate: -0.038218 m/s, LOS rate: -0.211149 deg/s, cmd heading: 270.530406 deg, new cmd heading: 270.239061 deg. Bh5=HeadingCmd: 4.716561 target range: 159.600815 and range: 160.30 m.h=@h9*h9"h9 h9g9fAfAfdddjdZd3@{Bɢ Ļ) lichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518953)q!!i%냼i-$ȿ))I-@I1y@ @@@E EE'E"Em;*E8;VE'4ZEBE} =a2E} =aJE ",N ?A29@2@2;;ٱ2QVx :AHRS rotation from veh to nav: [[0.998920,0.043779,0.015548],[-0.046231,0.969750,0.239684],[-0.004585,-0.240144,0.970726]]2H'?%j?@׏?`0??`ur ο1?i29@I2-~_;2CYzz{ByzIi}Mb@Mb@Mb@yyyy y9}Zd;?Cl?MbY}?y};=}@}Ay }1A)yyYybDVD:2y8<%U=ٔQ->9Y=cFyADE>Q 54?Q 94)MOBY?Q E:y=Q I?CI:i:4yɮA9AjhFNOT Ignoring new targets: 159.60 m.RhuZhu ProNav: ac range: 159.600815 m, nav range: 161.425568 m, bearing: 282.281848 deg, approach rate: -0.063869 m/s, LOS rate: -0.214746 deg/s, cmd heading: 270.239057 deg, new cmd heading: 269.999723 deg. Bh`HeadingCmd: 4.712384 target range: 159.600815 and range: 160.30 m.h˖@h*h"h hgfff2|BdddjdZd @={Bɢ=4uѻ)9 =fi9)=AAiEiɿI˖@I9@9 @9@=/@9@A@A><BDAT read: Rx Time:04:09:37.1001 TRx dataTimestamp_ set to:1761538178.424352checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024066! ^A] ;> nManaging dock network, ignoring radio surface power offE  E E )E "E s;*E *5;VE FA4ZE a @a @a @a @A .AI I B >B B IB {BB B B B ۀ;B 6EO >), ?A2ۿ@2Y@2b;ٱ2x >AHRS rotation from veh to nav: [[0.997579,0.066594,0.020060],[-0.069463,0.968349,0.239741],[-0.003460,-0.240554,0.970630]]2H)?I ?@?Zȱ@?@֯?`9Xlyοe?i2ۿ@I2oS_;2CYFy{ByFI LLbDNVDNkyVd%V\=ٔZHFQ-Z>9Z ?YZ ?=^cFy^ID^FE^>`Q 5f4b?Q 9f4b)b1OBYhyj$=Q Ij?bCIb:ibd:b24ynBɮn9ArrEjh  FNOT Ignoring new targets: 159.60 m.RhtZht% ProNav: ac range: 159.600815 m, nav range: 161.396896 m, bearing: 282.202250 deg, approach rate: -0.077081 m/s, LOS rate: -0.214031 deg/s, cmd heading: 269.999727 deg, new cmd heading: 269.760894 deg. Bh%-HeadingCmd: 4.708216 target range: 159.600815 and range: 160.30 m.h-@h)*h)"h) h)g1f1f1f1d9ddjdZd @U{BɢU2޻)Y ]wia)e%aiim,f}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274971iɿI@IQ 9@ @@@ԁ^AU@>Ա M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529455I Ia Om >@/, ?A2n@23@2+;ٱ2z :AHRS rotation from veh to nav: [[0.995677,0.089441,0.025033],[-0.092841,0.966063,0.241047],[-0.002623,-0.242329,0.970191]]2H?@?!?`qķ ??@}eϿ@ ?i2n@I2v_;2C9AYA=EcFyEQDM;cEM>QQ 5]4Ut/?Q 9]4U)UOBY]!?Q Ee:yew I I O >-6, ?A27[@2U@2:ٱ2z :AHRS rotation from veh to nav: [[0.993227,0.112312,0.029760],[-0.116176,0.963647,0.240598],[-0.001656,-0.242426,0.970169]]2H? y?hy? 2?@?_"[Ͽ ?i27[@I29TYX=ZcFyZYDZxEZ>\Q 5b4^9C?Q 9b4^)^OBYdyfp;Q If?^CI^~:j(DAT read: user:61> nBDAT read: Tx time:04:09:38.5311 r$Ping request sent.r@N>Be>BaBeIBe{BBe =BaBaBeڀ;Be6E)checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251228^A@>I) IA Oe >Q P<, ?A2@2}@2 9ٱ2Hy JAHRS rotation from veh to nav: [[0.990208,0.135385,0.034055],[-0.139602,0.960961,0.238883],[-0.000385,-0.241298,0.970451]]2Hȯ? JT?@o?x1?ඓ?D79ο` ?i2@I2xO_;2CYRN{ByRIXZAAbD^VD^:yf;%fI=ٔfLQ-j>9hYh=jcFyjaDnmEn>tQ 54vX?Q 9 4v )vNBiYyQ I?v CIv]I I) OM >  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.7548108C,{ !?A2Ҽ@2@2E2ٱ2|y :AHRS rotation from veh to nav: [[0.986529,0.159013,0.038408],[-0.163583,0.957351,0.238159],[0.001100,-0.241234,0.970466]]2H@?Z?F?FĿ?|?`HR?@ο?i2Ҽ@I2Pg_;2CYBC{ByBIi=Mb@Mb@Mb@9999 99=rh|?v/?9iYi=mcFyujDujEu>Q 54m?Q 94)NBY?Q E:yQ I?*CI:i:4yɮ9AԹjhFNOT Ignoring new targets: 160.40 m.RhZZhZ ProNav: ac range: 160.396057 m, nav range: 159.669205 m, bearing: 281.970594 deg, approach rate: -0.209712 m/s, LOS rate: -0.245411 deg/s, cmd heading: 269.004350 deg, new cmd heading: 268.738383 deg. Bhl(HeadingCmd: 4.690370 target range: 160.396057 and range: 161.10 m.h@h*h"h hgfff{BdddjdZd`i?-{Bɢ-H)) -i))5 311i5A>i=b˿99I=@IA9@ @@0@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006791^AIQIiOu>D D 4=E } E sE 'E "E ;*E )+;VE '4ZE a @a @a @a @9 Be >Be +CBe IBe {BBe =Ba Ba Be р;Be 6EB!B!B!B!B!C%4[bI,6\'!?AN@N[ @N ٱN`'z ZAHRS rotation from veh to nav: [[0.982322,0.182200,0.042968],[-0.187182,0.953049,0.238033],[0.002419,-0.241868,0.970306]]NH /o?RR??ǿa?`w?@c?@ο ?iN@INMW_;NCYA{By%IbD]VD]y%I=ٔRQ->9Y=cFyrD&nE>Q 54낙?Q 94b)NBYy?Q I?JCIl:i&;4yBɮ?AtEjh FNOT Ignoring new targets: 160.40 m.Rh nZh n% ProNav: ac range: 160.396057 m, nav range: 159.589874 m, bearing: 281.884688 deg, approach rate: -0.192518 m/s, LOS rate: -0.208579 deg/s, cmd heading: 268.738383 deg, new cmd heading: 268.480538 deg. Bh%%-HeadingCmd: 4.685869 target range: 160.396057 and range: 161.10 m.h-@h)*h1"h1 h1g1f1f9f9d9dAdAjdAZdM(?echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259336额{Bɢ@B) i)A:顩iit̿I@II@I @I@U/@QAy^A@>AzAIq I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510885ԙ JP,8A!?Aɰ4<2)E@2?@2X[ٱ2k{ :AHRS rotation from veh to nav: [[0.977421,0.205736,0.048182],[-0.211276,0.947940,0.238268],[0.003347,-0.243067,0.970004]]2HG?U?A? ˿ U?@?kk?Ͽ E ?i2)E@I2_;2CYn9{BynIEe EexEe)Ea"Eex;*Ee-;VEeFA4ZEaBEe9Y=cFyzDNxE>Q 54?Q 94 )NBY?Q E:yQ I?iCIG ;i~ ;"4yBɮ?AuEjh  FNOT Ignoring new targets: 160.40 m.Rh"hZh"hq ProNav: ac range: 160.396057 m, nav range: 159.513199 m, bearing: 281.802669 deg, approach rate: -0.189633 m/s, LOS rate: -0.202946 deg/s, cmd heading: 268.480529 deg, new cmd heading: 268.234356 deg. BhG HeadingCmd: 4.681573 target range: 160.396057 and range: 161.10 m.hrϕ@h*h"h hgfff{BdddjdZd@~?E{BɢMO)I Mii)u>BBqqiu]i}ͿyyI}rϕ@IyA@A @A@A@Iuchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.764178ԡ^Am ;>A ؟AI I O > tV,[!?A>@>{}@>Fٱ> p} FAHRS rotation from veh to nav: [[0.972128,0.228263,0.053507],[-0.234414,0.942275,0.239098],[0.004159,-0.244977,0.969520]]>H ?7?Me?Gο'? Ś?q? g[ϿN?i>@I>A_;>CYN>{ByNIbDVVDV:bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014918yfO<%fZ=ٔf Q-f>9j"?Yj"?=jcFyjDn݁En>pQ 5v4r?Q 9v4r)rNBYtyv`Q Iv?rCIr:ird:r#4y|ɮ~?A|jh!%FNOT Ignoring new targets: 160.40 m.Rh-gfZh-gf= ProNav: ac range: 160.396057 m, nav range: 159.437439 m, bearing: 281.727243 deg, approach rate: -0.202230 m/s, LOS rate: -0.201434 deg/s, cmd heading: 268.234369 deg, new cmd heading: 268.007986 deg. Bh=> EHeadingCmd: 4.677622 target range: 160.396057 and range: 161.10 m.hE@hA*hA"hI hIgIfIfIfQdQdQdQjdQZd] L@颅{Bɢ_) [i)H顉iiͿI@I1@1 @1@5/@1Eu EuEu,Eq"Eu;*Eu4;VEug4ZEqa}@a}@a}@a}@B<A<B >B B IB ~{BB  =B B DB ;B 6E^A@>}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267515A Ai Iq I O >Q \,Ht!?A2#@2@2ٱ26~ :AHRS rotation from veh to nav: [[0.966219,0.250953,0.058677],[-0.257670,0.936106,0.239397],[0.005150,-0.246429,0.969147]]2HD?? ?@}п`??u?Ͽ@?i2#@I2_;2CYB={ByBIIF!>)Fp;bDNVDNN2yVPT%VL=ٔZ"Q-Z>9`Yd=fcFyfDnrEn>pQ 5v4r?Q 9v4r)rNBYtyv)Q Iv?rCIr:irW:r*4y~Bɮ~S?A~vEjh!-FNOT Ignoring new targets: 160.40 m.Rh=dZh=d ProNav: ac range: 160.396057 m, nav range: 159.350494 m, bearing: 281.646432 deg, approach rate: -0.214957 m/s, LOS rate: -0.199903 deg/s, cmd heading: 268.007990 deg, new cmd heading: 267.765425 deg. Bh0 UHeadingCmd: 4.673388 target range: 160.396057 and range: 161.10 m.hUf@hY*hY"ha hagifffdddjdZd`#@1颍{BɢN) i)Q顑iGi οIf@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518890Y@a @a@e/@aYE} E}jE}'Ey"E}I;*E}k&;VE}'4ZEyBE}c,qɎ!?A06@6@6 ٱ6N >AHRS rotation from veh to nav: [[0.959560,0.274059,0.064317],[-0.281447,0.929330,0.239026],[0.005735,-0.247461,0.968881]]6H?/? w? 9ҿ? e?~w?ϬϿ`?i6@I6f_;6CYf:{ByfIi}Mb@Mb@Mb@yyyy y9}Q?9Y=cFyDRjE>Q 54zҙ?Q 94)NBY#?Q E:y@pQ I?ŷCI:iE:K24yBɮ&?AwEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 160.40 m.Rh ZZZh ZZ] ProNav: ac range: 160.396057 m, nav range: 159.243378 m, bearing: 281.563988 deg, approach rate: -0.247864 m/s, LOS rate: -0.190900 deg/s, cmd heading: 267.765436 deg, new cmd heading: 267.517940 deg. BheeHeadingCmd: 4.669069 target range: 160.396057 and range: 161.10 m.hei@hi*hi"hi higififf{BdddjdZd @{Bɢ f) >i) 1Y1i5i5]ο99I=i@I9ԑ@ @@-0@ԹBDAT read: Rx Time:04:09:41.1497 TRx dataTimestamp_ set to:1761538182.456288checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024057^A;>  G9 Q D D <E  E E ,E "E ^;*E 9;VE g4ZE a @a @a @a @} 9 Y AB >B B IB t{BB B B B ;B y6EA I! I9 OE >i,!?ALr%,@r&@rbƻٱrZ ~AHRS rotation from veh to nav: [[0.952412,0.296662,0.070016],[-0.304753,0.922200,0.238060],[0.006054,-0.248069,0.968723]]rH)z??`?@ӿ ?x?Tx?Ͽ`?ir%,@IrGg_;rCY 6{By }IbD%VD%1y5!%5P=ٔ5+TQ-5>99Y9==cFy=DE}EE>IQ 5U4MC噊?Q 9U4M)MNBYQy]Q I]?MCIM ;iM ;M,94yaɮe6?Aachecking for new query: numPingsReceived=0, elapsed TxPingTime=3.275576jh1=FNOT Ignoring new targets: 160.40 m.RhELZhEL} ProNav: ac range: 160.396057 m, nav range: 159.140945 m, bearing: 281.489616 deg, approach rate: -0.246635 m/s, LOS rate: -0.179187 deg/s, cmd heading: 267.517937 deg, new cmd heading: 267.294679 deg. Bh}HeadingCmd: 4.665172 target range: 160.396057 and range: 161.10 m.hI@h*h"h hgfffdddjdZd'f @M{BɢM/i)Q U iQ)UaQQiU؀i]ϿYaIeI@Ia@ @@,2@^AE E> checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529084) A I I O >1p,r!?A|Y={ByI  E%z E%E%(E!"E%4;*E%8;VE%c44ZE!BE%9QYQ=UcFyUD]E]>aQ 5e4eB?Q 9m4e)esNBYm2?Q Em:ymQ Im?eCIee:ie:e@4y}{Bɮ}>AyjhFNOT Ignoring new targets: 160.40 m.RhdZhd ProNav: ac range: 160.396057 m, nav range: 159.028610 m, bearing: 281.406252 deg, approach rate: -0.269209 m/s, LOS rate: -0.199920 deg/s, cmd heading: 267.294672 deg, new cmd heading: 267.044406 deg. Bh4 HeadingCmd: 4.660804 target range: 160.396057 and range: 161.10 m.hO%@h*h"h hgfff{BdddjdZd R@={Bɢ=Rh)A EiA)EiAAiEDiU/ϿYYI]O%@IaI))mDAT read: 04:09:41.1497 LVL= 23184, 25073, 17250, 24003, AGC= 63, IDX= 417,-0.45,-0.465,-0.140, 1.624, 0.228, PHS=-0.591,-0.323, 1.352, RAW= 217.3, -4.9, CAL= 215.9, -7.3, ROT= 294.1, 7.3 uYgot valid direction response: 04:09:41.1497 LVL= 23184, 25073, 17250, 24003, AGC= 63, IDX= 417,-0.45,-0.465,-0.140, 1.624, 0.228, PHS=-0.591,-0.323, 1.352, RAW= 217.3, -4.9, CAL= 215.9, -7.3, ROT= 294.1, 7.3 }PDAT read: Bearing 94.6, -57.3 (Local) }~Local bearing/azimuth received: Bearing 94.6, -57.3 (Local) DAT read: Range 11 to 50 : 160.8 m (Round-trip 214.4 ms) speed 0.0 m/s R#Rx 1: Read range and direction messages.`direction in FSK: [0.405021,-0.905435,-0.127065]Fpublishing direction and range infoy)-B|?\ 2S))-ܑf;D? y -&e?)-by=I-8i-w>))T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.@ @@4@@gA@gAa^A ;>ԁ A I I O >Lv,!?A:U@:@:pEػٱ:|B(DAT read: user:62> FBDAT read: Tx time:04:09:42.5311 F$Ping request sent.F9pYp=rcFyrDvEv>xQ 5~4z ?Q 9~4zh)zjNBYy[Q I?zCIz;iz& ;zG4y xBɮ >A EiYi]W!?AJi] CRi] Cji]@b]T5P@Sl1b?W4R]B|?\ 2Sj]=b$x#@Zd\ycl 0@Z]fZC!?z ɹ?2i]:i]A"i]Ap??*i]~GBi]Bi]0?iYiYi]Ci]B@Ye addTargetRange:: Added new target pos. range: 160.800003 m, deltaT: 4.032814 s, deltaX: -0.300003 m, approachRate: -0.074391 m/s, rangeRepo size: 4 u Added new target pos. range: 160.095612 m, bearing: 273.503880 deg, lat: 36.779411 deg, lon: -121.859531 deg, deltaT: 4.032814 s, deltaX: -0.300446 m, approachRate: -0.074500 m/s, posRepo size: 4 jhq}FNOT Ignoring new targets: 160.10 m.Rh}Zhy ProNav: ac range: 160.095612 m, nav range: 156.743683 m, bearing: 276.202295 deg, approach rate: 0.000000 m/s, LOS rate: -0.199920 deg/s, cmd heading: 267.044414 deg, new cmd heading: 266.827984 deg. BhHeadingCmd: 4.657027 target range: 160.095612 and range: 160.80 m.h]@h*h"h hgfffdddjdd@Zd}?{Bɢup)q }iy)}pyyi}rpi%пI]@ID)zD-AAE5 E5pE5)E1"E5;*E5);VE5FA4ZE1a=@a=@a=@aE@E9@A @A@M/@IԉB>BBBBBBB;Bj6EUchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.254094^A}6>A .AI I O > t|,w!?A2@2ݼ@2ٻٱ2${ :AHRS rotation from veh to nav: [[0.928221,0.362304,0.084503],[-0.371969,0.899771,0.228149],[0.006626,-0.243205,0.969952]]2H? /?? W׿?3?@i#{?@[!Ͽ ?i2@I2]k_;0YBE{ByBIbDJVDJyRT;%VN=ٔVІQ-V>9Z ?YZ ?=ZcFyZDZtEZ>Q 5%4M?Q 9%4i)_NBY)y-|Q I-?=CI:iF:=N4y5rBɮ5y>A=EjhFNOT Ignoring new targets: 160.10 m.RhLZhL- ProNav: ac range: 160.095612 m, nav range: 156.643433 m, bearing: 276.122528 deg, approach rate: -0.225042 m/s, LOS rate: -0.179175 deg/s, cmd heading: 266.827979 deg, new cmd heading: 266.588527 deg. BhUmHeadingCmd: 4.652848 target range: 160.095612 and range: 160.80 m.h!@h*h"h hchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503178gfffdddjdZdv?E{BɢyY) "i)Vz顉iu:iпI!@I}9@y @y@y@yEE{ EEyEE+EA"EE;*EEQ.;VEE [4ZEABEE]E checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754941I A ؟AI I O >'G,g"?AYW{By IQiMb@Mb@Mb@ 9v? rh?Zd;OY?yC =j`A@ 1A)GAY3AbDVDkyc=%0=ٔQ->9"?Y"?=cFyDE>Q 543?Q 94)SNBY1?Q E:yQ I?_CIU:i:&V4ykBɮ=A B*** querying acoustic contact ***i  i jhFNOT Ignoring new targets: 160.10 m.Rh%wZh%w5 ProNav: ac range: 160.095612 m, nav range: 156.527863 m, bearing: 276.033024 deg, approach rate: -0.279541 m/s, LOS rate: -0.216653 deg/s, cmd heading: 266.588540 deg, new cmd heading: 266.319831 deg. Bh5=HeadingCmd: 4.648158 target range: 160.095612 and range: 160.80 m.h=@h9*h9"hA hAgAfAfAfM{BdIdIdQjdQZdU L?}{Bɢ}r^) ni)Rh顁i i Hѿ  I @Ix>i!>ԁ@ @@/@@N>@V>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007590ԩ^A% ;>bE FA4jE mF4rE J0E  E E (E "E ҝ;*E H;VE c44ZE a @a @a @a @B >B B B B B B B p;B U6E Au .AI I O >Ml,+"?AFU@FO@F|ӻٱFz VAHRS rotation from veh to nav: [[0.909076,0.405574,0.095348],[-0.416581,0.881297,0.223103],[0.006454,-0.242538,0.970120]]FH&?@? h?Cڿ3??pz?} Ͽ: ?iFU@IF}_;FCY^B{BybIjAAjAAbDr VDr2yzN\%~X=ٔ19Q->9 ?Y  ?= cFy D3E>Q 5-4E?Q 9-4)HNBY1y5ľQ I5?|CI $;i]$;Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259814\4yQɮUN>AYjhyFNOT Ignoring new targets: 160.10 m.Rhn[Zhn[ ProNav: ac range: 160.095612 m, nav range: 156.421356 m, bearing: 275.959642 deg, approach rate: -0.278250 m/s, LOS rate: -0.191843 deg/s, cmd heading: 266.319840 deg, new cmd heading: 266.099545 deg. BhHeadingCmd: 4.644313 target range: 160.095612 and range: 160.80 m.h7@h*h"h hgfffdddjdZdAk?Թ{Bɢ=t) i)iiѿI7@I9@ @@@)checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510976^A9 AY Ia Iq O >$T,E"?AE& E&sE&,E$"E&1;*E&)+;VE&g4ZE$BE&3U@>@>iػٱ>n| JAHRS rotation from veh to nav: [[0.898542,0.427031,0.101322],[-0.438837,0.870688,0.222091],[0.006620,-0.244022,0.969747]]>H`?{T? U@I>?V_;>CYR_{ByRIi%Mb@Mb@Mb@!!!! !9%V-?:v?:vY%h?y%<%T!%@ %GA)%1A!Y%\AbDVDy}=%;=ٔƹQ- >9 Y=cFyD=3dE=>IQ 5}4MX?Q 9}4M)MBNBY?Q E:yԾQ I?MCIM;iM;Md4ydBɮ=AEjhFNOT Ignoring new targets: 160.10 m.Rh`LZh`L  ProNav: ac range: 160.095612 m, nav range: 156.296722 m, bearing: 275.879657 deg, approach rate: -0.278200 m/s, LOS rate: -0.178681 deg/s, cmd heading: 266.099553 deg, new cmd heading: 265.859407 deg. BhAHeadingCmd: 4.640122 target range: 160.095612 and range: 160.80 m.h{@h*h"h hgff!f%|Bd!d!d)jd)Zd-?u{Bɢ}vS)y }iy)}?yiOiOҿI{@IUchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763639A9@ @@/@i^A ԙ A ؟AI I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015089N~,m_"?A2̿@2@2xٱ2| :AHRS rotation from veh to nav: [[0.887361,0.448563,0.106682],[-0.461024,0.859749,0.219747],[0.006850,-0.244178,0.969706]]2HCe?@?O?`iݿ? ?@ |?@8AϿ`?i2̿@I24_;0YlylbDtVDtٔ"Q->9"?Y"?=cFy D DE >Q 54h?Q 94)Ai%~iҿI_@IqE] E]E](EY"E]^;*E]n:;VE]c44ZEYae@ae@ae@ae@a@i @i@m4@iBu>BqBuIBu{BBqBqBqBuf;BuK6EB=+CB=+CB9B=ü =B=ü =C=4@fA@ԡechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267449^A6>A I I O > ~,ZIy"?A2@2r@2߻ٱ2D} FAHRS rotation from veh to nav: [[0.875718,0.469560,0.112394],[-0.482775,0.848281,0.217595],[0.006833,-0.244813,0.969546]]2H?D ?@ż?޿%?)?j{?`VϿ?i2@I2hP_;2CYR|{ByRI XZbD\VD\yf=%f<ٔfR;8Q-j>9hYh=jcFyjDn~En>pQ 5~4ry?Q 94r)r6NBY yQ I?rԸCIr;ir ;rq4y5+Bɮ=l;AEEjhchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.521307FNOT Ignoring new targets: 160.10 m.Rh4Zh4% ProNav: ac range: 160.095612 m, nav range: 156.068466 m, bearing: 275.744522 deg, approach rate: -0.273322 m/s, LOS rate: -0.157999 deg/s, cmd heading: 265.664115 deg, new cmd heading: 265.453691 deg. Bh%ػMHeadingCmd: 4.633041 target range: 160.095612 and range: 160.80 m.hMA@hI*hQ"hQ hQgQfQfYfYdYdYdYjdaZdeuX@ {Bɢ 9)  ۽i)6i~i7ӿIA@I!@ @@{3@Em Em|Em+Ei"Em;*Em/;VEm [4ZEiBEmm checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771062A I I O >Q i,-"?A26'@2!@2}ٱ2g| :AHRS rotation from veh to nav: [[0.863271,0.490968,0.117105],[-0.504689,0.836312,0.214176],[0.007217,-0.243994,0.969750]]2H?l?`?`i& ?` j? }?`1;Ͽ0?i26'@I2k@_;2CYB{ByBIiMMb@Mb@Mb@IIII I9MI +?+?MbYM9?yM=MM3AI MA)MAIYIbDeVDeyu;%u@=ٔulQ-}>9yYy=}cFy}D^rE>Q 54Q?Q 94)-NBY?Q E:yQ I?CIX ;i ;Cy4yɮb;AB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 160.10 m.RheZhe ProNav: ac range: 160.095612 m, nav range: 155.935181 m, bearing: 275.668167 deg, approach rate: -0.350524 m/s, LOS rate: -0.200975 deg/s, cmd heading: 265.453690 deg, new cmd heading: 265.224432 deg. Bh HeadingCmd: 4.629040 target range: 160.095612 and range: 160.80 m.h!@h*h"h hgfff#|BdddjdZd .9 @-{Bɢ5K)1 5۽i1)= 99i=:v~iE ӿAAIE!@II)@ @@=4@BDAT read: Rx Time:04:09:45.1484 TRx dataTimestamp_ set to:1761538186.488621checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024575Y^AE>Bm >Bi Bm IBm {BBm =Bi Bi Bm c;Bm I6Eԁ D =D =E i E E ,E "E ~;*E =;VE g4ZE BE B<2E B<JE <:E <A I1 IA OM >ӻ,6"?A,J'[@JU@J+ٱJy VAHRS rotation from veh to nav: [[0.850431,0.512005,0.120905],[-0.526032,0.824273,0.209436],[0.007573,-0.241711,0.970319]]JH6?Xb??A`r`??\?cο ?iJ'[@IJc_;JCY^{By^IbDjVDjfynns=%rT=ٔrrQ-r>9tYt=vcFyvDv|Ev>xQ 5~4z᜚?Q 94zc)z%NBYyQ I?zCIzr;izg:z4y %Bɮ:AE%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275084jhAEFNOT Ignoring new targets: 160.10 m.RhMIZhMI ProNav: ac range: 160.095612 m, nav range: 155.810211 m, bearing: 275.600105 deg, approach rate: -0.323593 m/s, LOS rate: -0.176380 deg/s, cmd heading: 265.224442 deg, new cmd heading: 265.020092 deg. BhHeadingCmd: 4.625473 target range: 160.095612 and range: 160.80 m.h@h*h"h hgfffddd1jd1Zd5o @颅{Bɢjc,) pi)o顉i0M~i/ԿI@Iԉ)@) @)@-/@)Թ^A};>A> DAT read: 04:09:45.1484 LVL= 25360, 26753, 17682, 27059, AGC= 58, IDX= 435,-0.13, 2.020, 1.690,-2.568, 2.514, PHS=-0.392,-0.779, 1.158, RAW= 199.1, 0.2, CAL= 199.2, -2.3, ROT= 310.8, 2.3  Ygot valid direction response: 04:09:45.1484 LVL= 25360, 26753, 17682, 27059, AGC= 58, IDX= 435,-0.13, 2.020, 1.690,-2.568, 2.514, PHS=-0.392,-0.779, 1.158, RAW= 199.1, 0.2, CAL= 199.2, -2.3, ROT= 310.8, 2.3  PDAT read: Bearing 102.9, -46.1 (Local)  ~Local bearing/azimuth received: Bearing 102.9, -46.1 (Local)  DAT read: Range 11 to 50 : 159.8 m (Round-trip 213.1 ms) speed 0.0 m/s  R#Rx 1: Read range and direction messages. `direction in FSK: [0.652894,-0.756385,-0.040132] Fpublishing direction and range infoA?y=e\?,N4迂.='YCc hE i):I9ȾilGX9?e^@d;/^@ l$)^@Il$=x#)?hίl?v1#5e? ?))I[il$= T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.A I I O >梱,"?AE EuEE"E;*E6,;VEZEa@a@a@a@ \b!@b狶@baٱb{  AHRS rotation from veh to nav: [[0.837201,0.532050,0.126563],[-0.546843,0.811161,0.207318],[0.007641,-0.242777,0.970052]]bHX??33?@?g?+L? OϿ ?ib!@Ib>_;`Y{ByIiMb@Mb@Mb@ 9> ףp=?kt?MbY?y 0=`A GA)AYAbD-VD-y=<%=*=ٔEQ-E>9AYA=McFyMDmPEm>qQ 5}4uB?Q 9}4u)uNBYd?Q E:y)Q I?u4CIu:iuE:uz4yBɮx:Ai i "?AJi CRi Cji "P@b /sY@E^‘)R =e\?,N4迂.='Zi [bi l$=j r!6@5wcp0}.7@Z V?O'SKo)?2i :i A"i BH?*i d` Bi rBi i i rBi Ci @% addTargetRange:: Added new target pos. range: 159.800003 m, deltaT: 3.780867 s, deltaX: -1.000000 m, approachRate: -0.264490 m/s, rangeRepo size: 4 -(DAT read: user:63> 5BDAT read: Tx time:04:09:46.3311 =$Ping request sent.=q  G!9Am.AIIĿ9YAO>D,ٖ"?A22Ȯ@2µ@2Sٱ2:x :AHRS rotation from veh to nav: [[0.823537,0.552071,0.130403],[-0.567211,0.798287,0.202508],[0.007700,-0.240739,0.970559]]2HiZ???&? ? f? ο?i22Ȯ@I2+_;0YB{ByBIbDJ VDJ:2yR.=%RO=ٔVsQ-V>9V ?YZ ?=ZcFyZDZoEZ>A`A`Bf>BdBfIBf{BBf =BdBdErs Er{Er+Ep"Er;*Er_/;VEr [4ZEpBErA ؟AI I O >ԑ 0#,}"?A*checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756586E]@E#@EaٱE> w UAHRS rotation from veh to nav: [[0.808952,0.572375,0.134102],[-0.587819,0.784415,0.197896],[0.008080,-0.238916,0.971007]]EH@?P?=*?h?T?`?Δο`|?iE]@IES8_;AYe{ByeI iiiMb@Mb@Mb@ 9|?5^?i|?5?/$Y?yq=@ 1A)GAY3AbDVDk1y<%5=ٔ#\Q->9"?Y"?=%cFy%D%dE%>IQ 54Ԛ?Q 94)NBY?Q E:y Q I?sCI:i:|4yBɮ9AEjh  FNOT Ignoring new targets: 159.10 m.RhIZhI% ProNav: ac range: 159.098907 m, nav range: 155.359940 m, bearing: 275.369791 deg, approach rate: -0.350396 m/s, LOS rate: -0.176579 deg/s, cmd heading: 264.553908 deg, new cmd heading: 264.317157 deg. Bh%^MHeadingCmd: 4.613204 target range: 159.098907 and range: 159.80 m.hM_@hI*hI"hI hQgQfQfQf]P|BdYdYdYjdYZde฾?{Bɢ$) iEl EuEE"Eڎ;*E6,;VEZEa @a @a @a @)șif~iտ9AIE_@IIԁ@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006726ԡ^A= @>A9 zA= fA A I I O >,o#?Aɰ20@2Y+@2ٱ25u :AHRS rotation from veh to nav: [[0.794303,0.591693,0.137778],[-0.607467,0.770486,0.193222],[0.008172,-0.237172,0.971433]]2H`j? &??`_pҧ?`|?@e?[ο@?i20@I2 _;2CYB{ByBI hj4<bDnVDnyvu=%vE=ٔzAiQ-z>9xY|=~cFy~D~6rE~>Q 5 4X嚊?Q 9 4)MBYyQ I?CI;i;r4yBɮC9A%E1EB*** querying acoustic contact ***iA iAjhIUFNOT Ignoring new targets: 159.10 m.RhUBZh]Be ProNav: ac range: 159.098907 m, nav range: 155.220001 m, bearing: 275.302595 deg, approach rate: -0.354099 m/s, LOS rate: -0.170188 deg/s, cmd heading: 264.317147 deg, new cmd heading: 264.115375 deg. BhemHeadingCmd: 4.609683 target range: 159.098907 and range: 159.80 m.hu@hq*hq"hq hqgqfqfyfydydydjdZd`a?颵{Bɢ) pi)项i~iR5ֿI@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258908A@I @I@M/@IYBE>BABEIBE{BBE =BABABE^;BED6ED}<D}<Eg E}EE"E;*Em0;VEZEBEԙA] .AIi Iy  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510836O > ,9C6#?A2g@2b@2lٱ2 ;v :AHRS rotation from veh to nav: [[0.779183,0.610265,0.143008],[-0.626742,0.755557,0.190600],[0.008266,-0.238141,0.971195]]2H?I? N?E`-?e??f{ο`?i2g@I244_;2CYB|ByBIbDJVDJyR=%RO=ٔVUyQ-V>9V ?YV ?=ZcFyZDZ~EZ>\Q 5b4^O?Q 9b4^")^MBYdyf)Q If?^CI^:i^:^V4yjBɮn|8Aljh|FNOT Ignoring new targets: 159.10 m.RhN>ZhN> ProNav: ac range: 159.098907 m, nav range: 155.077240 m, bearing: 275.237202 deg, approach rate: -0.362896 m/s, LOS rate: -0.166380 deg/s, cmd heading: 264.115383 deg, new cmd heading: 263.919025 deg. Bh^HeadingCmd: 4.606256 target range: 159.098907 and range: 159.80 m.h%sf@h!*h!"h! h!g!f!f)f)d)d)d1jd1Zd5M?]|Bɢe)a eia)eaiim=~imֿqqIusf@IyԱ-9@) @)@-O0@)checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765200!^AI)Ex EE,E"EL;*En:;VEg4ZEa@a@a@a@A I I O >Y ,bP#?A&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014735Nע@N@NbٱNnSv VAHRS rotation from veh to nav: [[0.763884,0.628260,0.147548],[-0.645300,0.740631,0.187225],[0.008347,-0.238231,0.971173]]NH q???@L`@??@?? [~ο?iNע@INV"_;NCYn|BynIIr=)r>ieMb@Mb@Mb@aaaa a9eS㥛?{Gz?~jtYe$?yeף=eDeIAe@ eA)e1AaYeAbD}VD}y1=%==ٔ5EQ->9Y=cFy DcE>Q 54?Q 94U)MBY?Q E:yEQ I?˹CI:i8:欘4yɮ<8AjhFNOT Ignoring new targets: 159.10 m.RhK2ZhK29} ProNav: ac range: 159.098907 m, nav range: 154.938446 m, bearing: 275.169784 deg, approach rate: -0.320620 m/s, LOS rate: -0.155878 deg/s, cmd heading: 263.919029 deg, new cmd heading: 263.716594 deg. Bh}ջHeadingCmd: 4.602723 target range: 159.098907 and range: 159.80 m.hI@h*h"h hgfff|BdddjdZd@|Bɢ1)  D,i#?ABߪ@Bڱ@BٱBt JAHRS rotation from veh to nav: [[0.748318,0.645899,0.151112],[-0.663289,0.725762,0.182528],[0.008223,-0.236820,0.971519]]BH 8?4?`W?9`q9?]?`G׀?` Pο`?iBߪ@IB:_;BCbEU [4jEUY4rEU/EN{ EN{EN)EL"EN;*EN_/;VENFA4ZELBEN]9"?Y"?=cFy)DpE>Q 54?Q 94q)MBYyVQ I?CI%H;iF;4y Bɮ7AEjh)-FNOT Ignoring new targets: 159.10 m.Rh5,Zh5,E ProNav: ac range: 159.098907 m, nav range: 154.804657 m, bearing: 275.107695 deg, approach rate: -0.323803 m/s, LOS rate: -0.150400 deg/s, cmd heading: 263.716582 deg, new cmd heading: 263.530156 deg. BhEoλMHeadingCmd: 4.599469 target range: 159.098907 and range: 159.80 m.hM.@hIԉ*hI"h hgfffdddjdZda @Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519029  |Bɢ) p/,?Ƀ#?A:@:@:X ٱ:u BAHRS rotation from veh to nav: [[0.732307,0.662905,0.155831],[-0.680923,0.710004,0.179549],[0.008383,-0.237594,0.971328]]:Ho?6? I?`Z?t?+?{iο@?i:@I:_;:CYJ=|ByJIiMb@Mb@Mb@ 9y&1?Zd;O?~jtY`?yj=ļ )AY\AbD5VD50yи=%I=ٔ͹Q->9Y=cFy1DpE>Q 54#?Q 94)MBY?Q E:yQ I?CI:i:4yɮ\7Ajh!%FNOT Ignoring new targets: 159.10 m.Rh-U/Zh5U/e ProNav: ac range: 159.098907 m, nav range: 154.670410 m, bearing: 275.046040 deg, approach rate: -0.333482 m/s, LOS rate: -0.153290 deg/s, cmd heading: 263.530145 deg, new cmd heading: 263.345020 deg. Bhmgһ}HeadingCmd: 4.596238 target range: 159.098907 and range: 159.80 m.h}a@hy*hy"hy hygfff|BdddjdZdt6 @e|BɢeX)a e|/=ia)eiiEmu EmwEm+Ei"Em;*EmD-;VEm [4ZEiau@au@a}@a}@im~i׿Ia@IA@A @A@E4@A!eBDAT read: Rx Time:04:09:48.9474 eTRx dataTimestamp_ set to:1761538190.268061mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.023783I ^Ai A I I O >,#?A68X@6R@6ٱ61y >AHRS rotation from veh to nav: [[0.715756,0.679107,0.162809],[-0.698300,0.693193,0.178495],[0.008359,-0.241448,0.970378]]6H@y?>?? zX.??`d?οU ?i68X@I6^;6CYFG|ByF%IbDNVDN 3yV<%V[=ٔZ8Q-Z>9XYX=^cFy^9D^΃E>!Q 5%4%1?Q 9-4%")%MBY)y-AQ I-?%CI%:i%|:%4y5Bɮ=7A=EUB*** querying acoustic contact ***iQ iQjhaeFNOT Ignoring new targets: 159.10 m.RhmW-ZhmW-} ProNav: ac range: 159.098907 m, nav range: 154.539291 m, bearing: 274.988564 deg, approach rate: -0.345428 m/s, LOS rate: -0.151547 deg/s, cmd heading: 263.345020 deg, new cmd heading: 263.172446 deg. Bh}лHeadingCmd: 4.593225 target range: 159.098907 and range: 159.80 m.h@h*h"h hgfffdddjdZd%- @checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278029|Bɢ+) E=i)<ݗili Pؿ  I @II)Q@ @@/@@@B>BBIB5|BBBBBK;B06EBBBBBC4yE| E~EE"E;*E0;VEZEBE%;,$~#?A2u@2;@2ٱ2z :AHRS rotation from veh to nav: [[0.698779,0.695375,0.167813],[-0.715289,0.676514,0.175184],[0.008291,-0.242450,0.970128]]2H`f\?@?z?`?pl?@? ϿJ ?i2u@I2^;2C@YFI|ByF'I LNp<bDRVDRk1yZ;%ZJ=ٔZ/9Q-Z>9\Y\=^cFy^ADbsEb>dQ 5j4f??Q 9j4f%)fMBYhyjm#Q Ij?f6CIf:ify:fȘ4ypɮr6Apjh  FNOT Ignoring new targets: 159.10 m.Rh(Zh(% ProNav: ac range: 159.098907 m, nav range: 154.401718 m, bearing: 274.930961 deg, approach rate: -0.350522 m/s, LOS rate: -0.146898 deg/s, cmd heading: 263.172434 deg, new cmd heading: 262.999471 deg. Bh%ɻ-HeadingCmd: 4.590207 target range: 159.098907 and range: 159.80 m.h-@h)*h)"h) h)g1f1f1f1dddjdZd"z@%|Bɢ-з)) -p<=i))-11i5i]ؿYYI]@IaԱ1@y @y@y@DAT read: 04:09:48.9474 LVL= 32752, 32753, 20194, 32755, AGC= 63, IDX= 426,-0.50,-0.424,-1.401, 0.811,-0.142, PHS=-0.179,-1.214, 0.909, RAW= 180.8, 5.3, CAL= 180.6, 4.0, ROT= 329.4, -4.0 Ygot valid direction response: 04:09:48.9474 LVL= 32752, 32753, 20194, 32755, AGC= 63, IDX= 426,-0.50,-0.424,-1.401, 0.811,-0.142, PHS=-0.179,-1.214, 0.909, RAW= 180.8, 5.3, CAL= 180.6, 4.0, ROT= 329.4, -4.0 PDAT read: Bearing 104.3, -30.4 (Local) ~Local bearing/azimuth received: Bearing 104.3, -30.4 (Local) DAT read: Range 11 to 50 : 159.1 m (Round-trip 212.2 ms) speed 0.0 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.858645,-0.507801,0.069756]Fpublishing direction and range infoy=z?[>?࿼&k۱?YCN )?IK7iZd9h?I@q=nI@ 5=)@I5SL?5?_ﳸ? ?)j Iݸi55T****** received valid address query ******=R****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode.^AEm r Em [Ei Ei "Em ;*Em ;VEi ZEi a} @a} @a} @a} @ I I O >",6Y#?A(DAT read: user:64> BDAT read: Tx time:04:09:50.3811 $Ping request sent.ϧ@>ɮ@>ٱ>{ JAHRS rotation from veh to nav: [[0.681431,0.711215,0.172699],[-0.731834,0.659451,0.171880],[0.008357,-0.243511,0.969862]]>H`I?`E?`?/k`9?`*??@a+Ͽ  ?i>ϧ@I>^;>CYRN|ByR)Ili Mb@Mb@Mb@     9 V-?"~j?:vY |>y S= Լ   GA) ^A Y AbD]VD]0y<%.=ٔ(Q->9Y=cFyJDPQE>Q 54(P?Q 94))MBY ?Q E:yQ I?UCI ;i" ;И4yBɮ6AEii#?AJifCRifCji@bG[a@R]iT a&@R=z?[>?࿼&k۱?Ziݸbi5j2B@_bҲp?@ZQQ65?Fp.g?2i:iB"i݁R?*i|BiBiiiBi?CiA@5 addTargetRange:: Added new target pos. range: 159.100006 m, deltaT: 4.032132 s, deltaX: -0.699997 m, approachRate: -0.173605 m/s, rangeRepo size: 4 E Added new target pos. range: 158.402054 m, bearing: 283.933154 deg, lat: 36.779411 deg, lon: -121.859531 deg, deltaT: 4.032132 s, deltaX: -0.696854 m, approachRate: -0.172825 m/s, posRepo size: 4 jhAEFNOT Ignoring new targets: 158.40 m.RhMZhI] ProNav: ac range: 158.402054 m, nav range: 154.246552 m, bearing: 274.863441 deg, approach rate: 0.000000 m/s, LOS rate: -0.146898 deg/s, cmd heading: 262.999467 deg, new cmd heading: 262.790861 deg. BhYeHeadingCmd: 4.586566 target range: 158.402054 and range: 159.10 m.he&Œ@ha*ha"ha higififqfu|Bdqdqdyjd}@3c@Zd}@G?颥 |Bɢ.7Ӻ) X7=i)L顱ii*ٿI&Œ@I a@a @a@e/@i9checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250956^A 6>I I O >a A A B >B *CB 9IB h|BB B B B <;B 6EL, 3#?AEv EdE-E"Ec;*EB#;VEt4ZEBEri>iA@A @A@E/@A@MR>@MJ>ԑ^Am E>I I O > > ;? checking for new query: numPingsReceived=0, elapsed TxPingTime=0.7582778 ,$?A>tX@>:S@>9ٱ> | FAHRS rotation from veh to nav: [[0.647268,0.740486,0.180900],[-0.762223,0.626319,0.163527],[0.007789,-0.243732,0.969811]]>H@k??`'? !d ?@v? *?2Ͽ?i>tX@I>_;>CYNg|ByN9IiMb@Mb@Mb@ԑ 9oʡ?V-?QY>y=@ )AYbDVDyh*=%;=ٔog:Q->9Y=cFyZDTE> Q 54 j?Q 94 /) bMBY%>Q E%:y%$Q I-? CI F;i g; ޘ4yIɮMT6AQEi EwE(E"E~;*ED-;VEc44ZEa@a@a@a@jhFNOT Ignoring new targets: 158.40 m.RhZh5 ProNav: ac range: 158.402054 m, nav range: 153.990463 m, bearing: 274.756561 deg, approach rate: -0.324959 m/s, LOS rate: -0.135962 deg/s, cmd heading: 262.643149 deg, new cmd heading: 262.469972 deg. Bh5MHeadingCmd: 4.580965 target range: 158.402054 and range: 159.10 m.hMD@hI*hI"hQ hQgQfQfYf]}BdYdYdYjdaZde#?颭+|Bɢx]) o=i)顱i yiYٿID@I@ @@0@Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007417^A @>I I O > ^ ,$?A2瞥@2@2oٱ2Z} :AHRS rotation from veh to nav: [[0.629839,0.754242,0.185531],[-0.776688,0.609218,0.160031],[0.007673,-0.244893,0.969520]]2H'?"?@y?~?`{?m?XϿ@N?i2瞥@I2m_;0YB:|ByBIbDJVDJP)yRT%Ra=ٔV?9Q-V>9TYT=ZcFyZbDZEZ>\Q 5b4^su?Q 9b4^l2)^NMBYdyf*Q If?^CI^:i^F:^4yjBɮj6AjEB*** querying acoustic contact ***i ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259027jhFNOT Ignoring new targets: 158.40 m.RhZh ProNav: ac range: 158.402054 m, nav range: 153.873886 m, bearing: 274.709888 deg, approach rate: -0.315567 m/s, LOS rate: -0.126437 deg/s, cmd heading: 262.469963 deg, new cmd heading: 262.329838 deg. BhHeadingCmd: 4.578519 target range: 158.402054 and range: 159.10 m.h;@h*h"h hgff f d d d jdZdg?GgA9gAYkA]0|Bɢ]bx)Y ]BBLIB|BBBBB4;B6E!]9@Y @Y@]2@YEz EE+E"E4;*Ez1;VE [4ZEBEy A I I O > ,e8$?A2"@2۫@2ٱ2~ :AHRS rotation from veh to nav: [[0.611681,0.767879,0.190285],[-0.791070,0.591435,0.156248],[0.007439,-0.246102,0.969215]]2H? w? >[?@qP@ ?`?w~?GϿ?i2"@I2x_;2CY^>|By^ IbDfVDffyn<%rG=ٔrm:Q-r>9pYt=vcFyvjDvfEv>xQ 54z&?Q 94z5)z8MBYy0Q I ?zCIz;iz!;z 4yɮ6AjhaeFNOT Ignoring new targets: 158.40 m.RhmmZhmm} ProNav: ac range: 158.402054 m, nav range: 153.737701 m, bearing: 274.657717 deg, approach rate: -0.342992 m/s, LOS rate: -0.131513 deg/s, cmd heading: 262.329835 deg, new cmd heading: 262.173183 deg. Bh}HeadingCmd: 4.575785 target range: 158.402054 and range: 159.10 m.hl@h*h"h hgfffdddjdZdx?5|Bɢz)  iڿIl@IQU9@Q @Q@U/@Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.765568ԉ^AqԱEp EqE&E"E;*E*;VE4ZEa@a@a@a@A I I O > ] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014846v ,sR$?Aɰ;:%@: @:K'ٱ:V BAHRS rotation from veh to nav: [[0.593432,0.780672,0.195933],[-0.804853,0.573396,0.153065],[0.007146,-0.248531,0.968598]]:H`d? D?Y?Z`CY??D}?Ͽ`?i:%@I:O_;:CYZA|ByZ!IiMb@Mb@Mb@ 9%C?B`"۹? rhYZ>y=C A@ )^AYA ;bDVDk2y;%<=ٔ1:Q->9Y=cFysD SE >Q 54?Q 94A9)MBY>Q E%:y% By A} <B >B )CB B B =B B DB &;B 6EI! I9 OE >E] { E] oE] ,EY "E] ;*E] );VE] g4ZEY BE] ]9Y=cFy{D&sE>Q 54t?Q 94s<) MBYyBQ I?CI:i:4yBɮW7AEjhFNOT Ignoring new targets: 158.40 m.Rh%:Zh%:5 ProNav: ac range: 158.402054 m, nav range: 153.459335 m, bearing: 274.562580 deg, approach rate: -0.332558 m/s, LOS rate: -0.111132 deg/s, cmd heading: 262.019225 deg, new cmd heading: 261.887516 deg. BhU]HeadingCmd: 4.570799 target range: 158.402054 and range: 159.10 m.h]C@hY*hY"hY hYgYfafafadadidijdiZdm`!@B|Bɢ ) ,hi),ai糀iu/ۿchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519210IC@I9@ @@/@9^Ai i  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772819I! II Om >>! ,h$?AR>@R@R޻ٱR  AHRS rotation from veh to nav: [[0.555724,0.806208,0.202979],[-0.831339,0.536898,0.143582],[0.006778,-0.248537,0.968599]]RH@}?s?7?UC.?@`? j{? Ͽ?iR>@IR_;PY!y-IiMb@Mb@Mb@ 9v/?+?{GzYx>y=#`A@ ^A)AYzAE EE-E"Eҝ;*E:;VEt4ZEa@a@a%@a%@bD-VD-y=;%=?=ٔ==8Q-=>9AYA=EcFyEDE]EM>Q 54?Q 94u@)LBY>Q E:yVQ I?CIv:i:K4yɮT7Ajh)5FNOT Ignoring new targets: 158.40 m.Rh5Zh5am ProNav: ac range: 158.402054 m, nav range: 153.296661 m, bearing: 274.516114 deg, approach rate: -0.369439 m/s, LOS rate: -0.105640 deg/s, cmd heading: 261.887512 deg, new cmd heading: 261.747964 deg. BhmHeadingCmd: 4.568364 target range: 158.402054 and range: 159.10 m.h 0@h*h"h hgfff|BdddjdZd o @H|Bɢ) i)N.iiHۿI 0@I!@ @@@@N>@N>BDAT read: Rx Time:04:09:52.9959 %TRx dataTimestamp_ set to:1761538194.300192%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024062ԑ ^A ;>A >A >IA IQ Ou >-' ,2$?A28@2@2Fӻٱ2D :AHRS rotation from veh to nav: [[0.536705,0.818154,0.206330],[-0.843745,0.518524,0.138661],[0.006459,-0.248509,0.968608]]2H`,?P.?`i?@??tz?(Ͽ ?i28@I28_;2CYB{ByBIHJ@APbDNVDNN2yjٽ%je=ٔjGj:Q-n>9lYl=rcFyrDrEr>tQ 5z4v?Q 9z4vC)vLBYxy~\Q I~?vCIv;iv;vB4yɮ7A%B*** querying acoustic contact ***i! i!jh)5FNOT Ignoring new targets: 158.40 m.Rh5_뺝checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274997Zh=_ ProNav: ac range: 158.402054 m, nav range: 153.169556 m, bearing: 274.481399 deg, approach rate: -0.376415 m/s, LOS rate: -0.102889 deg/s, cmd heading: 261.747957 deg, new cmd heading: 261.643729 deg. Bh9HeadingCmd: 4.566545 target range: 158.402054 and range: 159.10 m.h"!@h*h"h hgfffddd!jd!Zd%@a @mN|Bɢm>SL)q (ٽi)顙ijiۿI"!@IB=>B9B=?IB=r|BB= =B9B9B=-;B=6Ey@y @y@}/@bE!jE%-W4rE%(90E- E-E-+E)"E-;*E-<;VE- [4ZE)BE-=aM2E-=aMJE-1 ?- ,t $?A62@6-@6aѻٱ6" >AHRS rotation from veh to nav: [[0.516858,0.830215,0.208810],[-0.856047,0.499409,0.133317],[0.006400,-0.247657,0.968827]]6H??K?d`Q??`6z?;Ͽ?i62@I6$^;4Y^{BybIbDjVDj02yrꧽ%rI=ٔrr9Q-r>9tYt=vcFyvDzkEz>||Q 54~?Q 9 4~gG)~LBY y {bQ I ?~,CI~94;i~x5;~X4yBɮG8Ajh9EFNOT Ignoring new targets: 158.40 m.RhEZhMU ProNav: ac range: 158.402054 m, nav range: 153.016113 m, bearing: 274.441415 deg, approach rate: -0.377909 m/s, LOS rate: -0.098575 deg/s, cmd heading: 261.643729 deg, new cmd heading: 261.523656 deg. Bh]MeHeadingCmd: 4.564449 target range: 158.402054 and range: 159.10 m.he@ha*ha"ha hagafififididqdqjdqZdun@颥T|Bɢv!y) i)+D顩iIiۿI@IQ@Q @Q@U0@Q)5DAT read: 04:09:52.9959 LVL= 29040, 32753, 26674, 32755, AGC= 67, IDX= 426, 0.14,-0.780,-1.905, 0.184,-0.666, PHS=-0.012,-1.194, 0.806, RAW= 174.0, 4.7, CAL= 173.4, 3.1, ROT= 336.6, -3.1 ]Ygot valid direction response: 04:09:52.9959 LVL= 29040, 32753, 26674, 32755, AGC= 67, IDX= 426, 0.14,-0.780,-1.905, 0.184,-0.666, PHS=-0.012,-1.194, 0.806, RAW= 174.0, 4.7, CAL= 173.4, 3.1, ROT= 336.6, -3.1 uPDAT read: Bearing 90.4, -22.8 (Local) }~Local bearing/azimuth received: Bearing 90.4, -22.8 (Local) DAT read: Range 11 to 50 : 158.0 m (Round-trip 210.7 ms) speed 0.0 m/s 5R#Rx 1: Read range and direction messages.e^direction in FSK: [0.916412,-0.396567,0.054079]eFpublishing direction and range infoy/>S?R9fYaٿʾ7?YCpq2h )CIDiԘVN? \B@=A@ k]=)/@Ik]g*?^ܠ?IIO>EM{ EMEM*EI"EM;*EMNi;VEM(N4ZEIa]@a]@a]@a]@ԁ = (DAT read: user:65> E BDAT read: Tx time:04:09:54.4311 E $Ping request sent.E yE`e=AAE@ EA)AAYEAbD]VD]ym7%m4=ٔuPQ-u>9yYy=}cFy}DQE>Q 54›?Q 94RL)LBY?Q E:y?vQ I?ICI" ;i7 ;N4yɮ8Aii $?AJiMCRiMCjiq@b+3}b@ѱ0OELr!@R/>S?R9fYaٿʾ7?ZiѾbik]j.4@N O?c^~8@ZRD?xRU_?2i:i̦A"iT?*ih~YBiήBiBH?id` iήBiWCi޸@ addTargetRange:: Added new target pos. range: 158.000000 m, deltaT: 4.031709 s, deltaX: -1.100006 m, approachRate: -0.272839 m/s, rangeRepo size: 4  Added new target pos. range: 157.302521 m, bearing: 277.711373 deg, lat: 36.779475 deg, lon: -121.859540 deg, deltaT: 4.031709 s, deltaX: -1.099533 m, approachRate: -0.272721 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 157.30 m.Rh Zh  ProNav: ac range: 157.302521 m, nav range: 154.340729 m, bearing: 277.028927 deg, approach rate: 0.000000 m/s, LOS rate: -0.098575 deg/s, cmd heading: 261.523654 deg, new cmd heading: 261.388055 deg. Bh%HeadingCmd: 4.562082 target range: 157.302521 and range: 158.00 m.h%@h!*h!"h) h)g)f)f1f5c|Bd1d1d9jd=c@Zd=?e\|Bɢe)i m;ii)m̠iqiuiuMܿyyI}@Iyԉa@a @a@eU1@a@mgA@ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250964Ա^A E>A zA gAI I A) A- @AB5 >B1 B5 &IB5 I|BB1 B1 B1 B5 1;B5 6EB)CB*CBBɽ =Bɽ =CĊ5O% > EA  EE EE )EA "EA *EE 4;VEE FA4ZEA BEE ]9 Y = cFy DE>Q 5%4ʛ?Q 9%4WP)LBY!y%Q I%?`CI:i:4y5Bɮ5+9A5EjhY]FNOT Ignoring new targets: 157.30 m.Rhe;Zhe;u ProNav: ac range: 157.302521 m, nav range: 154.177231 m, bearing: 277.000359 deg, approach rate: -0.457924 m/s, LOS rate: -0.080097 deg/s, cmd heading: 261.388061 deg, new cmd heading: 261.302267 deg. Bhu[ԙ=HeadingCmd: 4.560585 target range: 157.302521 and range: 158.00 m.h=P@h9*h9"h9 h9gAfAfAfAdIdIdIjdIZdME?iIchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503213b|Bɢr) v`i!)%n!!i%|Hi5,~ܿ11I5P@I99@ @@4@^A- ;> checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756179! A] .AI I OM >WA ,x%?AE EvE-E"E;*E,;VEt4ZEa@a@a@a@Ys{ByIiMb@Mb@Mb@ 9#~j?Q?ˡEY?y\='@ A)AYAbDVDyC%0=ٔQ->9 ?Y ?=cFyDE>Q 54ԛ?Q 94U)LBY?Q E:yQ I?CI~ ;i@:%4yBɮ29AEjh)-FNOT Ignoring new targets: 157.30 m.Rh-zZh5z= ProNav: ac range: 157.302521 m, nav range: 153.953217 m, bearing: 276.965455 deg, approach rate: -0.483192 m/s, LOS rate: -0.075395 deg/s, cmd heading: 261.302274 deg, new cmd heading: 261.197411 deg. BhENMHeadingCmd: 4.558755 target range: 157.302521 and range: 158.00 m.hMR@hI*hI"hI hIgIfQfQfU!|BdQdYdYjdYZd]"?颍h|BɢQ) ti)顑i~~i#ܿIR@I=9@9 @9@E3@Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007797I^Aa q A ؟AI I O >4H ,!%?AFZ@FU@FGٱFt NAHRS rotation from veh to nav: [[0.410533,0.886769,0.212376],[-0.911808,0.397117,0.104419],[0.008257,-0.236514,0.971593]]FH+F?i`?@&/?-^j?`,?@?Fο@J?iFZ@IF^;FCYVL{ByVII^p=)^\^AbDbVDb2yj%jq=ٔn%Q-n?9n"?Yn"?=rcFyrDrEr?tQ 5z4vۛ?Q 9z4vZ)vyLBY|y~Q I~?vCIvU;iv;v+4yɮ9A%B*** querying acoustic contact ***i! i!jh)5 ?5`?=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259255EFNOT Ignoring new targets: 157.30 m.RhE?ZhE?] ProNav: ac range: 157.302521 m, nav range: 153.786026 m, bearing: 276.942864 deg, approach rate: -0.491984 m/s, LOS rate: -0.066553 deg/s, cmd heading: 261.197417 deg, new cmd heading: 261.129567 deg. Bh]6]HeadingCmd: 4.557571 target range: 157.302521 and range: 158.00 m.heב@ha*ha"ha hagafafifididqdqjdqZdu"L?额m|Bɢۼ)3 8i)g顩i8}iܿIב@II1@9 @9@=/@9B>BBIB|BB =BBBB6EE ExE*E"E^;*E-;VE(N4ZEBEW=a2EW=aJEeԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.511594Ay I I O > |;N ,;%?A@2@2Ƅ@2ٱ2 t >AHRS rotation from veh to nav: [[0.387162,0.896772,0.214257],[-0.921967,0.374268,0.099494],[0.009034,-0.236059,0.971697]]2HC?`Z?l??sx?`J?`,7ο#?i2@I2_;2CYB8{ByB~IbDNVDNyV}P%VM=ٔVOQ-~>9|Y|=~cFyDE> Q 54 b㛊?Q 94 %_) fLBYy:Q I? CI i : 24y!ɮ%:A!jhIUFNOT Ignoring new targets: 157.30 m.RhU;Zh];e ProNav: ac range: 157.302521 m, nav range: 153.583023 m, bearing: 276.917523 deg, approach rate: -0.497431 m/s, LOS rate: -0.062175 deg/s, cmd heading: 261.129579 deg, new cmd heading: 261.053458 deg. Bhm*uHeadingCmd: 4.556242 target range: 157.302521 and range: 158.00 m.hȗ@hq*hq"hq hqgqfyfyfydyddjdZd?颵s|Bɢݼ) ~i)f项i|iy ݿȊ@Iԡ@ @@@Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763288^A;>E~ EE+E"E;*E=;VE [4ZEa@a@a@a @ A I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0148061 U ,rU%?A2.@2@2Z ٱ2#t :AHRS rotation from veh to nav: [[0.363307,0.905973,0.217302],[-0.931618,0.350817,0.094948],[0.009787,-0.236937,0.971476]]2H`l@? ?? s?N?A ?`SοT?i2.@I2^;2CYB0{ByBzIi Mb@Mb@Mb@     9 @5^I ?~jt?QY b?y <  IA @ 1A)  Y  AbD%VD%:y5[%5C=ٔ5RQ-5>9Y=cFyDMxE>Q 54뛊?Q 94d)ZLBY?Q E:y䖿Q I?лCI:i3:7:4yɮ=:AjhFNOT Ignoring new targets: 157.30 m.Rh UZh U ProNav: ac range: 157.302521 m, nav range: 153.351791 m, bearing: 276.893497 deg, approach rate: -0.543296 m/s, LOS rate: -0.056536 deg/s, cmd heading: 261.053464 deg, new cmd heading: 260.981277 deg. Bh3%HeadingCmd: 4.554983 target range: 157.302521 and range: 158.00 m.h%k‘@h!*h!"h! h!g)f)f)f-{Bd1d1d9jd9Zd=@@ex|BɢmU)i m-ii)mĻiqiuM{i}5ݿyyI}k‘@Iy@ @@/@A h>CEGechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267766ehAye9hAYޯA^Am6>y B A <B B B IB {BB =B B B *;B 6EA I I O >E-  E) E) E) "E- I;*E) VE) ZE) BE- %rO=ٔrQ-v>9tYt=vcFyvDzEz>|Q 54~?Q 94~;j)~OLBYy 8Q I ?~CI~:i~R:~@4yٔBɮC:Ajh9=FNOT Ignoring new targets: 157.30 m.RhEvkZhEvkU ProNav: ac range: 157.302521 m, nav range: 153.144409 m, bearing: 276.874046 deg, approach rate: -0.547939 m/s, LOS rate: -0.051464 deg/s, cmd heading: 260.981282 deg, new cmd heading: 260.922848 deg. BhUG ]HeadingCmd: 4.553963 target range: 157.302521 and range: 158.00 m.h]@hY*hY"ha hagafafafidididijdiZdu@额~|Bɢ7) i)̻顡iҰzi+WݿI@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518977ibިI)Աq@q @q@}/@y@fA@fA e >e <m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771144^A ;> E5 E5wE5)E1"E5F;*E5D-;VE5FA4ZE1a=@aE@aE@aE@IIIYOe> 9c ,{%?AY={By=mIԹiMb@Mb@Mb@ 9 +?9Y= cFy D E >QQ 5]4U?Q 9e4Uq)UELBYe?Q Ee:yeQ Ie?UCIU:iU:UI4ymהBɮuI:AuEjhFNOT Ignoring new targets: 157.30 m.RhVwZhVw ProNav: ac range: 157.302521 m, nav range: 152.848999 m, bearing: 276.846147 deg, approach rate: -0.571332 m/s, LOS rate: -0.054060 deg/s, cmd heading: 260.922843 deg, new cmd heading: 260.838987 deg. BhgHeadingCmd: 4.552499 target range: 157.302521 and range: 158.00 m.h@h*h"h hgfff{BdddjdZd @|Bɢ.c) i)ػ i xyiݿI@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.023465-0@ @@0@^A ;>9 m BDAT read: Rx Time:04:09:57.0435 m TRx dataTimestamp_ set to:1761538198.585107u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277294I I O >;ci ,_%?AnpC@n6>@n(<ٱnݪ{ %AHRS rotation from veh to nav: [[0.290917,0.928808,0.229529],[-0.956679,0.279514,0.081469],[0.011513,-0.243286,0.969886]]nH`a? ˸?3a??@&۴?Ⓡ? $ϿN ?inpC@Inf_;nCBABABEIBE~{BBABABABE5;BE6EY]{By]lIbDuVDuyڻ%S=ٔOQ->9Y=cFyDlE>Q 54?Q 94Ow)>LBYyQ I?/CIR:i:P4yɮS:AB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 157.30 m.RhEZhE ProNav: ac range: 157.302521 m, nav range: 152.629517 m, bearing: 276.829764 deg, approach rate: -0.577517 m/s, LOS rate: -0.043170 deg/s, cmd heading: 260.838996 deg, new cmd heading: 260.789776 deg. BhHeadingCmd: 4.551640 target range: 157.302521 and range: 158.00 m.h @h*h"h hgff f d d d jdyZd}@T @D=D%=E EE,E"E;*EG;VEg4ZEBE@R> ^A 3>IQ Ii Ou > p ,%?A>ys@>?n@>Gٱ>y FAHRS rotation from veh to nav: [[0.266537,0.936069,0.229636],[-0.963748,0.255827,0.075784],[0.012192,-0.241510,0.970322]]>H?G?d? @w_?f?6?ο ?i>ys@I>_;>CYN{ByNnIIR=)R;bDVVDV:y^ <%bD=ٔb*ֺQ-b>9`Yd=fcFyfDfyEf>hQ 5n4j?Q 9r4j|})j6LBYpyr⣿Q Ir?jNCIj:ij|:jW4ytɮvE:AxEDAT read: 04:09:57.0435 LVL= 32752, 32753, 30898, 32755, AGC= 66, IDX= 412,-0.23,-0.858,-2.198,-0.219,-0.857, PHS= 0.101,-1.296, 0.595, RAW= 164.6, 7.1, CAL= 164.1, 7.0, ROT= 345.9, -7.0 MYgot valid direction response: 04:09:57.0435 LVL= 32752, 32753, 30898, 32755, AGC= 66, IDX= 412,-0.23,-0.858,-2.198,-0.219,-0.857, PHS= 0.101,-1.296, 0.595, RAW= 164.6, 7.1, CAL= 164.1, 7.0, ROT= 345.9, -7.0 UPDAT read: Bearing 82.8, -14.7 (Local) ]~Local bearing/azimuth received: Bearing 82.8, -14.7 (Local) eDAT read: Range 11 to 50 : 156.2 m (Round-trip 208.3 ms) speed 0.9 m/s mR#Rx 1: Read range and direction messages.u^direction in FSK: [0.962643,-0.241799,0.121869]uFpublishing direction and range infoy|~d(?R/HοUM7P2?Y~3C|~|~x |)~BI~=i~T㥿~Q?~'7@~=~-M7@ ~5=)~/@I~5||~v5N?!/,XJ?+M? ~6G?)~^mI~t{i~5||ԹuT****** received valid address query ******uR****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.i|i~5%?AJi~CRi~Cji~ٱ@b~sb@7Bܸ2@R~d(?R/HοUM7P2?Zi~t{bi~5j~ )"@̉oc/K=@Z~nJϭ?/+_ t ?2i~u:i~A"i~Z?*i~׆'Bi~&Bi|i~h~Yi|i~-Ci~@ addTargetRange:: Added new target pos. range: 156.199997 m, deltaT: 4.030528 s, deltaX: -1.800003 m, approachRate: -0.446592 m/s, rangeRepo size: 4 M Added new target pos. range: 155.511124 m, bearing: 273.398832 deg, lat: 36.779475 deg, lon: -121.859549 deg, deltaT: 4.030528 s, deltaX: -1.791397 m, approachRate: -0.444457 m/s, posRepo size: 4 jhIUFNOT Ignoring new targets: 155.51 m.RhUZhQ ProNav: ac range: 155.511124 m, nav range: 153.179626 m, bearing: 276.778677 deg, approach rate: 0.000000 m/s, LOS rate: -0.043170 deg/s, cmd heading: 260.789764 deg, new cmd heading: 260.723815 deg. BhHeadingCmd: 4.550489 target range: 155.511124 and range: 156.20 m.h@h*h"h hgfffE EE-E"Eҝ;*E4;VEt4ZEa@a@a@a@dddjd`fc@Zdp?-|Bɢ5)1 5i1)5.19i}7wi}ݿI@I59@1 @1@50@1 (DAT read: user:66> BDAT read: Tx time:04:09:58.4311 $Ping request sent.I I O >w ,b%?A6@6@6Rٱ6w >AHRS rotation from veh to nav: [[0.241923,0.942812,0.229301],[-0.970210,0.231915,0.070053],[0.012868,-0.239418,0.970831]]6HR?+?Y?@ g??Z?@?ο ?i6@I6D_;6CYR,{ByRwIi-Mb@Mb@Mb@)))) )9-1Zd?I +? rhY-"?y-9<-C-`A) -A)-GA)Y- A99bDEVDEyU=%UB=ٔU2ҺQ-U>9YYY=]cFy]De wEe>iQ 5u4mX ?Q 9u4m)m0LBYuL?Q Eu:yu"Q I}?moCIm ;imu ;m$_4yɮ :AjhFNOT Ignoring new targets: 155.51 m.RhNZhN ProNav: ac range: 155.511124 m, nav range: 152.926895 m, bearing: 276.763921 deg, approach rate: -0.770020 m/s, LOS rate: -0.045032 deg/s, cmd heading: 260.723811 deg, new cmd heading: 260.679471 deg. Bh=HeadingCmd: 4.549715 target range: 155.511124 and range: 156.20 m.hD@h*h"h hgfff{Bddd jd Zd @#?u|Bɢu )y }~iy)}JyyiVEvi[ݿID@I%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252921A9@ @@4@A!A%AAB5>B1B5IB5_{BB5 =B1B1B5>;B56EDzDbEeǙT4jEewX4rEeg/E EE*E"EF;*E=;VE(N4ZEBE =a2E =aJEI) I9 OM >ԙ  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503005>} ,&%?A2ϖ@2ʝ@2W]ٱ2C%u :AHRS rotation from veh to nav: [[0.216856,0.949054,0.228625],[-0.976110,0.207557,0.064261],[0.013534,-0.237098,0.971391]]2H?^?C?J<>?`s?`?@:Yο?i2ϖ@I2m^;2CYB8{ByB~IbDNVDNkyR<%VS=ٔVdQ-V>9XYX=ZcFyZD^\E^>`Q 5b4b/?Q 9f4b)b*LBYdyfkQ If?bCIbN:ibF:be4ynєBɮn9AljhFNOT Ignoring new targets: 155.51 m.Rh _Zh _ ProNav: ac range: 155.511124 m, nav range: 152.694092 m, bearing: 276.752574 deg, approach rate: -0.601638 m/s, LOS rate: -0.029369 deg/s, cmd heading: 260.679470 deg, new cmd heading: 260.645377 deg. Bh?%HeadingCmd: 4.549120 target range: 155.511124 and range: 156.20 m.h%d@h!*h!"h! h!g!f)f)f)d)d1d1jd1Zd=;?e|Bɢe)a exia)mt iiimK\ui-ݿ11I5d@I1Y9@ @@/@ychecking for new query: numPingsReceived=0, elapsed TxPingTime=0.758316^AAzAeAIIqO >E ~ E E ,E "E ;*E 4;VE g4ZE a @a @a @a @ Y ,&?A2@2@2!gٱ2u :AHRS rotation from veh to nav: [[0.191407,0.953976,0.230854],[-0.981409,0.182625,0.059035],[0.014159,-0.237862,0.971196]]2H ???g@B`?9?$? Erο?i2@I2^;0Yv\{ByvI xxiuMb@Mb@Mb@qqqq q9u +?S㥛?I +Yu?yu/=ٔ Q->9Y=cFyDOwE>Q 54?Q 94r)&LBY%?Q E%:y%GQ I%?CIoC ,E,&?AEZ EZEZ/EX"EZ;*EZ6;VEZJ4ZEXBEZ9 Y = cFy  D gE >Q 5%4?Q 9%4?)#LBY!y%Q I%?ϼCI ;iP ;Au4y)ɮ5[8A1MB*** querying acoustic contact ***iI iIYjhaeFNOT Ignoring new targets: 155.51 m.RhmŹZhmŹ} ProNav: ac range: 155.511124 m, nav range: 152.178864 m, bearing: 276.732744 deg, approach rate: -0.637741 m/s, LOS rate: -0.021614 deg/s, cmd heading: 260.612534 deg, new cmd heading: 260.585775 deg. Bh}UmHeadingCmd: 4.548080 target range: 155.511124 and range: 156.20 m.h߉@h*h"h hgfffdddjdZd1?|Bɢ) {i)Sisi޿I߉@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.5109279@ @@/@ԁ^AԹI I O > ! ,F&?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.766832Y{By%IbDVDky=%;=ٔ%Q-%>9!Y!=-cFy-D-E->qQ 5}4u@?Q 9}4u)uLBYyyQ I?uCIu:iut:u}4yEx EE+E"EL;*E:;VE [4ZEa@a@a@a@ɮ7AjhAFNOT Ignoring new targets: 155.51 m.Rh믹Zh믹 ProNav: ac range: 155.511124 m, nav range: 151.917374 m, bearing: 276.723867 deg, approach rate: -0.565338 m/s, LOS rate: -0.019225 deg/s, cmd heading: 260.585787 deg, new cmd heading: 260.559110 deg. BhSHeadingCmd: 4.547615 target range: 155.511124 and range: 156.20 m.h@h*hA"hA hAgAfIfIfIdIdQdQjdQZdU`@|Bɢr)  ni ) c  i }Csi/'޿I@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.0193859@ @@/@) ^A ;>A >A >Y I I O>֛ ,d&?A:ɏ@:@:iuٱ:/x BAHRS rotation from veh to nav: [[0.116745,0.964428,0.237171],[-0.993049,0.109747,0.042544],[0.015002,-0.240489,0.970536]]:H? ?[?@b? Lȥ?!?Zο ?i:ɏ@I:^;8YJ{ByJIiMb@Mb@Mb@ 9n?X9v?YV?y<A A)YbD5VD5yEK=%EL=ٔEPQ-M>9IYI=McFyMDUTEU>YQ 5e4]b"?Q 9e4])YYe?Q Ee:ym)Q Im?] CI]:i]]:]䃙4q}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271322yɮ7Ajh1=FNOT Ignoring new targets: 155.51 m.RhENZhEN ProNav: ac range: 155.511124 m, nav range: 151.699158 m, bearing: 276.719433 deg, approach rate: -0.554842 m/s, LOS rate: -0.011291 deg/s, cmd heading: 260.559122 deg, new cmd heading: 260.545800 deg. BhHeadingCmd: 4.547382 target range: 155.511124 and range: 156.20 m.h'@h*h"h hgfff=|BdddjdZdU@B)A-<B5>B1B5IB5{BB1B1B5DB5=;B56EU|BɢUTh)Y ]5RiY)] YYi]=ri.޿<r>I'@IԡE= E={E=)E9"E=F;*E=_/;VE=FA4ZE9BE= =aU2E= =aUJE=“I I O > ,}&?A2Œ@2俙@2gvٱ2 z :AHRS rotation from veh to nav: [[0.092144,0.966411,0.239917],[-0.995632,0.085780,0.036857],[0.015039,-0.242265,0.970094]]2H???8`?ޢ? ̎?Ͽ ?i2Œ@I2^;2CYB|ByBIHJBAbDNVDNNyV=%VU=ٔV˸Q-V>9XYX=ZcFyZ#D^AE^>`Q 5f4b%?Q 9f4b9)`YdyfUQ If?b(CIb$:ib:b4ylɮng6AljhFNOT Ignoring new targets: 155.51 m.Rh QZh Q ProNav: ac range: 155.511124 m, nav range: 151.485794 m, bearing: 276.717087 deg, approach rate: -0.586352 m/s, LOS rate: -0.006456 deg/s, cmd heading: 260.545789 deg, new cmd heading: 260.538741 deg. BhʍHeadingCmd: 4.547259 target range: 155.511124 and range: 156.20 m.h%@h*h"h hgfffdddjdZd`{@e|Bɢe/M)a e'ia)miiimri2޿-<@8b>I%@I@ @@ 0@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775973 ^Ae׃>IIO]T>E9 E=E=&E9"E9*E=*5;VE=4ZE9aE@aE@aE@aE@AY = BDAT read: Rx Time:04:10:01.0724 E TRx dataTimestamp_ set to:1761538202.368122E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027855ܵ ,|&?A2s@29@2֞vٱ2az ZAHRS rotation from veh to nav: [[0.067730,0.968273,0.240539],[-0.997590,0.062087,0.030969],[0.015052,-0.242057,0.970145]]2HV??`? Bɯ?P?ӎ?οn ?i2s@I2^;2CY%3|By%IiMb@Mb@Mb@ 9Zd;?y&1?Mb?Y>y`e<<A@ )AYAbDVDJyx=%6=ٔQ->9Y=cFy,D`E>Q 54&?Q 9 4)%LBY >Q E :y eQ I ?ECI:i:j4yɮ5AjhAMFNOT Ignoring new targets: 155.51 m.RhMU|8ZhMU|8] ProNav: ac range: 155.511124 m, nav range: 151.262787 m, bearing: 276.718630 deg, approach rate: -0.497421 m/s, LOS rate: 0.003447 deg/s, cmd heading: 260.538741 deg, new cmd heading: 260.543377 deg. Bhef9eHeadingCmd: 4.547340 target range: 155.511124 and range: 156.20 m.hmσ@hi*hi"hi higififqfu|BdqdqdyjdyZd}@p @颭|Bɢm) i)顱i+sri00޿@<IN>Iσ@IQ@Q @Q@U0@Q@]gA@]gAI5 GIY9YAchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.280141y^A}%jr>AzAgAII B B B IB {BB =B B B H;B %6EO5 >E-  E- rE- *E) "E- ;*E- *;VE- (N4ZE) BE- H9)Y)=-cFy-3D-E->1Q 5=45 (?Q 9E45)5)LBYAyEQ IE?5]CI5;i5;54yM͔BɮM4AUơEmB*** querying acoustic contact ***ii iijhy}FNOT Ignoring new targets: 155.51 m.Rhc9Zhc9 ProNav: ac range: 155.511124 m, nav range: 151.076141 m, bearing: 276.721646 deg, approach rate: -0.497715 m/s, LOS rate: 0.008054 deg/s, cmd heading: 260.543385 deg, new cmd heading: 260.552446 deg. Bhް9HeadingCmd: 4.547498 target range: 155.511124 and range: 156.20 m.h@h*h"h hgfffdddjdZd@` @|Bɢ>Er) Ji)iGtri*޿Ϛ</:>I@Iԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.531112@ @@4@^Au =j>IIO%+> DAT read: 04:10:01.0724 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 233, 0.19, 2.788, 1.091, 3.018, 2.647, PHS= 0.244,-1.510, 0.328, RAW= 152.3, 10.5, CAL= 152.1, 11.4, ROT= 357.9, -11.4  Ygot valid direction response: 04:10:01.0724 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 233, 0.19, 2.788, 1.091, 3.018, 2.647, PHS= 0.244,-1.510, 0.328, RAW= 152.3, 10.5, CAL= 152.1, 11.4, ROT= 357.9, -11.4  PDAT read: Bearing 75.2, -4.3 (Local)  ~Local bearing/azimuth received: Bearing 75.2, -4.3 (Local) U DAT read: Range 11 to 50 : 177.9 m (Round-trip 237.2 ms) speed 0.4 m/s ] R#Rx 1: Read range and direction messages.m ^direction in FSK: [0.979613,-0.035921,0.197657]m Fpublishing direction and range infoy ! ,+&?A +X?`ʥ 5dg4L?Y1C )DI#y>iG>*@f;>)@ %K>)@I%K@ G?݁??]W9? g?):IQ i%KT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Ez EE.E"E4;*EVEـ4ZEa@a@a@a@p@Sk@Bpٱ{ -AHRS rotation from veh to nav: [[0.019459,0.969782,0.243197],[-0.999703,0.015307,0.018949],[0.014654,-0.243494,0.969792]]H`?s? !?PY? {g??*Ͽ?ip@IY^;Y}s|By}@IiMb@Mb@Mb@ 9S?y&1?y&1|?Y>y`;!A@ )YA  4<bDVDy)=%E"=ٔE9Q-E>9IYI=McFyM>DMAEU>QQ 54U)?Q 94U1)U/LBY<>Q E:ya¿Q I?U{CIU;iU;U֡4yɮ4Aii&?AJi1CRi1Cjiڗ@bWte@.r^գA@R +X?`ʥ 5dg4L?ZiQ bi%KjVw7x@_,]e 'fC@Z*?m<8/~?2i,:i @"ic ?*i}BiOBiii&BiCiƍ@-addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 177.899994 m, deltaT: 4.036606 s, deltaX: 21.699997 m, approachRate: 5.375803 m/s, rangeRepo size: 4jhFNOT Ignoring new targets: 155.51 m.RhH9ZhH9 ProNav: ac range: 155.511124 m, nav range: 150.839478 m, bearing: 276.727508 deg, approach rate: -0.442033 m/s, LOS rate: 0.010965 deg/s, cmd heading: 260.552456 deg, new cmd heading: 260.570068 deg. Bh9HeadingCmd: 4.547806 target range: 155.511124 and range: 156.20 m.h@h*h"h hgf(DAT read: user:67> BDAT read: Tx time:04:10:02.5311 $Ping request sent.I@IM9@I @I@M0@I^A% sP>I AQ IY Iq O > ,DQ&?AY-|By-YImchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251754bDUVDUy`=%=ٔQ-?9Y=cFyDDE ?Q 54)?Q 94)2LBYyQ I?CIE;iF;Z4yQɮU3AYjhFNOT Ignoring new targets: 155.51 m.RhTX9ZhTX9 ProNav: ac range: 155.511124 m, nav range: 150.692383 m, bearing: 276.731160 deg, approach rate: -0.475548 m/s, LOS rate: 0.011821 deg/s, cmd heading: 260.570078 deg, new cmd heading: 260.581046 deg. Bh:HeadingCmd: 4.547997 target range: 155.511124 and range: 156.20 m.h1@h*h"h hgfffdddjdAA@ABBB IB?|BB =BBBB;B6EZd?|Bɢi?)! %i!)%*!!i%ri-޿5{<5ۑ*>I51@I1Q9@ @@/@E  E E 0E "E ;*E a9;VE 4ZE BE  ,4,&?A2@2@2ܽaٱ2 :AHRS rotation from veh to nav: [[-0.025550,0.968538,0.247552],[-0.999579,-0.028165,0.007027],[0.013778,-0.247268,0.968849]]2H)B?ʯ?` :ל|?7?}Ͽ?i2@I2^;2C@YF|ByFaIIJ<)Jp<bDNVDNyz =%zT=ٔzm;Q-z>9~ ?Y~ ?=~cFy~LDE> Q 54 )?Q 94 º) 6LBYy$ȿQ I? CI :i :  4y!ɮ%3A!jhIMFNOT Ignoring new targets: 155.51 m.RhUC9ZhUC9e ProNav: ac range: 155.511124 m, nav range: 150.514496 m, bearing: 276.738658 deg, approach rate: -0.492756 m/s, LOS rate: 0.020792 deg/s, cmd heading: 260.581033 deg, new cmd heading: 260.603552 deg. BhePd:mHeadingCmd: 4.548390 target range: 155.511124 and range: 156.20 m.hmi@hi*hi"hi higqfqfqfqdydydyjdZd@-?颭|Bɢ&0) Hi)?p顱ilri ޿<=Ii@Iq@q @q@q@qԩ^AU)J>߅4=߅=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.760240A؟AIIOn>E- E-E-,E)"E-Ϣ;*E-UB;VE-g4ZE)aU@aU@aU@aU@ % checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006686 ,'?A2N@2kI@2ڵ^ٱ2) :AHRS rotation from veh to nav: [[-0.047155,0.967111,0.249946],[-0.998795,-0.049056,0.001377],[0.013593,-0.249580,0.968259]]2H $`? yף;;v A@ GA)^AYA!%@AbD- VD-2yА=%<=ٔ9Q->9"?Y"?=cFyUDBLE>Q 54V)?Q 94Ǻ):LBY>Q E:y/ͿQ I?CI%;i;4y!ɮ%I3A)jhiFNOT Ignoring new targets: 155.51 m.Rh9Zh9 ProNav: ac range: 155.511124 m, nav range: 150.332748 m, bearing: 276.749114 deg, approach rate: -0.411474 m/s, LOS rate: 0.023702 deg/s, cmd heading: 260.603546 deg, new cmd heading: 260.634953 deg. Bh":HeadingCmd: 4.548938 target range: 155.511124 and range: 156.20 m.h琑@h*h"h hgfff}BdddjdZd /?颍|BɢF) ;i)dg顙itsiݿR<x=I琑@I !@! @!@!@!^A^,>9}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259044II!O5>B>BB_IB|BB =BBB6;B6Ea bE|a4jE|a4rE0E%  E% E% *E! "E% ;*E% 6;VE% (N4ZE! BE% U9IYI=McFyM\DUEU>YQ 5e4](?Q 9e4]˺)]>LBYayaQ Im?]ѽCI]N:i]:]k4yqɮu2AqB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 155.51 m.Rh9Zh9 ProNav: ac range: 155.511124 m, nav range: 150.169678 m, bearing: 276.758517 deg, approach rate: -0.414606 m/s, LOS rate: 0.023933 deg/s, cmd heading: 260.634964 deg, new cmd heading: 260.663204 deg. Bhf:HeadingCmd: 4.549431 target range: 155.511124 and range: 156.20 m.h@h!*h!"h! h!g!f!f)f)d)d)d)jd1Zd5`?]|Bɢe7ۻ)a e=ia)eaiimqsimݿuøI1 IA u checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763161O] >ԡ 3 , M'?AMr@M8@M,ZٱM聾y AHRS rotation from veh to nav: [[-0.087365,0.963989,0.251181],[-0.996087,-0.087905,-0.009092],[0.013316,-0.250992,0.967898]]MH`]`?W? 􀶿cE?Aп`?iMr@IM\^;E EE(E"Es;*E4;VEc44ZEa@a@a@a@MCY}ByI iMb@Mb@Mb@ 9x&1?:vy&1|?Y>yT`;Az@ A)AYAbDVD2yl5=%2=ٔ.:Q->9Y=cFyfDﳽE>Q 542'?Q 9 4wк)FLBY >Q E  ;y ׿Q I?CI7 ;i ;nę4y̔Bɮ]2AСEjhAEFNOT Ignoring new targets: 155.51 m.RhM:ZhM:] ProNav: ac range: 155.511124 m, nav range: 150.001099 m, bearing: 276.773872 deg, approach rate: -0.377828 m/s, LOS rate: 0.034452 deg/s, cmd heading: 260.663214 deg, new cmd heading: 260.709330 deg. Bh]':eHeadingCmd: 4.550236 target range: 155.511124 and range: 156.20 m.he@ha*ha"ha higifififu}BdqdqdqjdqZd}@1@颥|Bɢ%?)1 5HB=i1)5 O11i5si=Iݿ==ۥ<=n=Ie@Iaԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.0159599@ @@0@^A6>I9IIOUu> C ,f'?AFl@Fg@FC6VٱF' ZAHRS rotation from veh to nav: [[-0.105786,0.962572,0.249527],[-0.994303,-0.105692,-0.013816],[0.013074,-0.249567,0.968269]]FH d??TK`Ɗ?Ͽ?iFl@IF^;FCYf}Byd vpBYB]IB]}BB] =BYBYB]L;B](6EB!B!B!B%¾ =B!C%4 ProNav: ac range: 155.511124 m, nav range: 149.873840 m, bearing: 276.786444 deg, approach rate: -0.343632 m/s, LOS rate: 0.033978 deg/s, cmd heading: 260.709331 deg, new cmd heading: 260.747081 deg. Bh:HeadingCmd: 4.550895 target range: 155.511124 and range: 156.20 m.h@h*h"h hgfffdddjdZd@|Bɢ) 0=i)i=timݿu1checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518797i C+ ,t'?A2׋@2Ғ@2Pٱ2x :AHRS rotation from veh to nav: [[-0.123843,0.961280,0.246180],[-0.992220,-0.123149,-0.018275],[0.012750,-0.246528,0.969052]]2H*@?Ղ?D ?@;Ͽx?i2׋@I2w^;2CYB}ByBIbDNVDNyV;%VQ=ٔVY:Q-V>9XYX=ZcFyZuDZAE^>Q 54#?Q 94׺)QLBYy%ܿQ I%? CIe ;i ;nљ4y)ɮ-T2A)jhQUFNOT Ignoring new targets: 155.51 m.Rh]G<:Zh]G<:m ProNav: ac range: 155.511124 m, nav range: 149.729568 m, bearing: 276.801805 deg, approach rate: -0.386143 m/s, LOS rate: 0.041151 deg/s, cmd heading: 260.747089 deg, new cmd heading: 260.793214 deg. Bhm:uHeadingCmd: 4.551700 target range: 155.511124 and range: 156.20 m.hu@hq*hq"hq hygyfyffdddjdZd~@颵|Bɢ<û) $=i)J项iAtiOݿ<A=I@I9q@q @y@}/@y=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771939a^Aw=E EE,E"E;*E,?;VEg4ZEa @a @a @a@IYIyԑO>Թ i I A checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022977U ,`'?A:Q@:sL@:N8Hٱ:U| JAHRS rotation from veh to nav: [[-0.140084,0.959810,0.243189],[-0.990064,-0.138814,-0.022440],[0.012220,-0.243916,0.969719]]:H FĶ? ?`n?8Ͽ?i:Q@I:!Q^;:CYR|ByRIIVC>)V;i-Mb@Mb@Mb@)))) )9-Zd;O?~jtMb`Y-j>y-ļ-)-@ ))-A)Y-AbDEVDEyU:%U@=ٔ]:Q-]>9YYY=ecFye}DeqEe>iQ 5u4m(!?Q 9u4mۺ)mTLBYѼ>Q E;yOQ I?mCImtB]>BYB]IB]3}BBYBYBYB]x;B]T6EE  E E *E "E p;*E VL;VE (N4ZE BE -=a 2E -=a JE Ȭ9)Y)=-cFy-D5TE5>1Q 5E45u?Q 9E45~ߺ)5XLBYAyEDQ IM?52CI5;i5;5ߙ4yQɮU2AQuB*** querying acoustic contact ***iq iqjhyFNOT Ignoring new targets: 155.51 m.Rhb:Zhb: ProNav: ac range: 155.511124 m, nav range: 149.446152 m, bearing: 276.839177 deg, approach rate: -0.365566 m/s, LOS rate: 0.049528 deg/s, cmd heading: 260.849296 deg, new cmd heading: 260.905441 deg. Bh;HeadingCmd: 4.553659 target range: 155.511124 and range: 156.20 m.h@h*h"h hgfffdddjdZd@|Bɢ/&) `oI u DAT read: 04:10:05.1699 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 93,-0.23,-1.841, 2.554,-2.179,-2.143, PHS= 0.404,-1.542,-0.080, RAW= 136.2, 13.8, CAL= 135.4, 14.9, ROT= 14.6, -14.9 } Ygot valid direction response: 04:10:05.1699 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 93,-0.23,-1.841, 2.554,-2.179,-2.143, PHS= 0.404,-1.542,-0.080, RAW= 136.2, 13.8, CAL= 135.4, 14.9, ROT= 14.6, -14.9  PDAT read: Bearing 70.3, 10.7 (Local)  ~Local bearing/azimuth received: Bearing 70.3, 10.7 (Local)  DAT read: Range 11 to 50 : 175.9 m (Round-trip 234.6 ms) speed 1.2 m/s  R#Rx 1: Read range and direction messages. \direction in FSK: [0.935171,0.243594,0.257133] Fpublishing direction and range infoyA E O?Lf.?Fht?YE /CA A A A A )E GIE >iE B`ſE ףE #@E Ϣv>E E>@ E %>)E w>IE %A A E ~?4R? ? E 7>)E kvIE w>iE %A A  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.\h ,J'?A$E EE+E"E;*E,?;VE [4ZEa@a@a@a@Y|ByIiiMb@Mb@Mb@ 9E?X9v:vY>yTv A@ )GAYbDVDy%q%%"=ٔ-Q-->9)Y)=-cFy5D5E5>9Q 5E4=?Q 9E4=)9YMf>Q EM;yMQ IM?=KCI= ;i= ;=m4yQɮU2AQiqiuA'?AJiu/CRiu/Cjiuo@bu6ܭxd@iYSaTE@ރF@RuO?Lf.?Fht?Ziuw>biu%juBɏ-9:@(ZCo/eSXeA@Zu'*?Ay(c1?2iu{):iuA"iuFN?*iu8QNBiuWBiuT?iu׆'iuBiuCiu @ addTargetRange:: Added new target pos. range: 175.899994 m, deltaT: 8.067874 s, deltaX: 19.699997 m, approachRate: 2.441783 m/s, rangeRepo size: 4  Added new target pos. range: 175.124359 m, bearing: 278.795406 deg, lat: 36.779493 deg, lon: -121.859553 deg, deltaT: 8.067874 s, deltaX: 19.613235 m, approachRate: 2.431029 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 175.12 m.RhZh ProNav: ac range: 175.124359 m, nav range: 149.856277 m, bearing: 277.595478 deg, approach rate: 0.000000 m/s, LOS rate: 0.049528 deg/s, cmd heading: 260.905440 deg, new cmd heading: 260.980646 deg. BhHeadingCmd: 4.554972 target range: 175.124359 and range: 175.90 m.hT‘@h*h"h hgfff}Bdddjde@Zd;P?|Bɢ\) `i)%!!i-.ui-6ݿ-bP<5 BDAT read: Tx time:04:10:06.4827 $Ping request sent. ^A (A=E IGi 09 Y PAI I O >& ,'?A.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.2507056 @6k@6y6ٱ6%Nk BAHRS rotation from veh to nav: [[-0.179248,0.957487,0.226028],[-0.983741,-0.177043,-0.030162],[0.011137,-0.227759,0.973654]]6Hƿ໣?z?z@Xƿ➿@φ?6'Ϳ+(?i6 @I61^;4Yj|ByjlI llbDrVDr:y%{=ٔ";Q- ?9Y!=%cFy%D%E% ?iQ 5}4m?Q 9}4m)mWLBYyy Q I?m\CIm:;im:;mA4yɮt3Ajh1=FNOT Ignoring new targets: 175.12 m.RhEj~:ZhEj~:} ProNav: ac range: 175.124359 m, nav range: 149.736496 m, bearing: 277.614748 deg, approach rate: -0.345372 m/s, LOS rate: 0.055607 deg/s, cmd heading: 260.980654 deg, new cmd heading: 261.038510 deg. Bh};HeadingCmd: 4.555982 target range: 175.124359 and range: 175.90 m.hʑ@hB>BBBBBBBu;BP6E*h"h hg!f!f)f)d)d)d1jd1Zd58!?E EyEE"E.;*EQ.;VEZEBE=a2E=aJEْy s ,D(?A02忉@2@2=/ٱ26f >AHRS rotation from veh to nav: [[-0.188458,0.956956,0.220726],[-0.982023,-0.186073,-0.031742],[0.010696,-0.222740,0.974819]]2Haȿ@a?@?l=ǿ@q@`?̿ 1?i2忉@I2dA^;2CYF|ByF_I N49XY\=^cFy^D^9żEb>`Q 5f4bA?Q 9f4b)bVLBYhyj:Q Ij?boCIb:ib:b4ylɮr3ApjhFNOT Ignoring new targets: 175.12 m.Rh҇:Zh҇: ProNav: ac range: 175.124359 m, nav range: 149.600342 m, bearing: 277.637269 deg, approach rate: -0.358618 m/s, LOS rate: 0.059373 deg/s, cmd heading: 261.038519 deg, new cmd heading: 261.106144 deg. Bh";HeadingCmd: 4.557162 target range: 175.124359 and range: 175.90 m.hEԑ@h*h"h hgfffdddjdZd?|Bɢpt) uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754750i)ҩ顁itԉiVܿ:<j IEԑ@Ie9@a @a@e/@a^A=<AU>AU>ԹII E5 E5E5-E1"E5x;*E52;VE5t4ZE1aU@a]@a]@a]@O}{> % checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006670 ,(?A2+@2@2t*ٱ2c :AHRS rotation from veh to nav: [[-0.195254,0.956161,0.218248],[-0.980697,-0.192709,-0.033101],[0.010408,-0.220498,0.975332]]2Hȿޘ??a@ȿ@P? K9̿5?i2+@I2LT^;0`Yb|BybWIiMMb@Mb@Mb@IIII I9M"~j?{GzI +YMS>yMףM9M AM@ M1A)MAIYMAbDeVDeyu޼%u>=ٔu/:Q-u>9yYy=}cFy}D;E>Q 54A?Q 94h)QLBY>Q E:y:Q I?CI ;i ;g4yʔBɮ3A١EjhFNOT Ignoring new targets: 175.12 m.Rh(:Zh(: ProNav: ac range: 175.124359 m, nav range: 149.423508 m, bearing: 277.664716 deg, approach rate: -0.428016 m/s, LOS rate: 0.066513 deg/s, cmd heading: 261.106138 deg, new cmd heading: 261.188577 deg. Bh6;HeadingCmd: 4.558600 target range: 175.124359 and range: 175.90 m.h@h*h"h hgfff|BdddjdZd@?|BɢHЁ) Ƚi)iIti1ܿ <atI@I 9@ @@0@PExceeded connect timeout, disconnecting.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258692Bm>BiBmIBm|BBiBiBiBmP;Bm,6E^A<IQ Ia Om >E- x E- vE- *E) "E- L;*E- ,;VE- (N4ZE) BE- 9)Y)=-cFy-D5E5>9Q 5E4= ?Q 9E4=)=LLBYAyIQ IM?=CI=:i=:=L4yUєBɮU4AUءEuB*** querying acoustic contact ***iq iqjhyFNOT Ignoring new targets: 175.12 m.Rhܒ:Zhܒ:checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510642 ProNav: ac range: 175.124359 m, nav range: 149.260895 m, bearing: 277.690017 deg, approach rate: -0.412157 m/s, LOS rate: 0.064198 deg/s, cmd heading: 261.188565 deg, new cmd heading: 261.264551 deg. Bh;0;HeadingCmd: 4.559927 target range: 175.124359 and range: 175.90 m.h@h*h!"h! h!g!f!f)f)d)d)d)jdQZdUWz?颭}Bɢ ) i)i tiܿ v<[yI@II9@ @@4@^Ayb]<IIO%M>q checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762635ԡ  ,/P(?A<>@Ez EzEz,Ex"EzU;*Ez~E;VEzg4ZExa@a@a@a@y>@]9@BٱY  AHRS rotation from veh to nav: [[-0.203936,0.956509,0.208570],[-0.978936,-0.201355,-0.033765],[0.009700,-0.211062,0.977425]]H@ʿ?i?rS ɿ Is݃?˿G?i>@IbV^;CYS|By,IiMb@Mb@Mb@ 9T㥛 ?Mb`X9vY?y~A A)YA  @AbDVD:y%V%%.=ٔ%:Q-%>9)Y)=-cFy-D5E5>9Q 5E4=.?Q 9E4=)=@LBYED?Q EM:yMQ IM?=CI=B;i=;= 4yQɮU;5AQjhy}FNOT Ignoring new targets: 175.12 m.Rh :Zh : ProNav: ac range: 175.124359 m, nav range: 149.039017 m, bearing: 277.721781 deg, approach rate: -0.472714 m/s, LOS rate: 0.067773 deg/s, cmd heading: 261.264544 deg, new cmd heading: 261.359976 deg. Bh :;HeadingCmd: 4.561592 target range: 175.124359 and range: 175.90 m.h@h*h"h hgfffg|BdddjdZd?@ }Bɢ) 76i)8itsi+]ܿp<\ʼI@Iԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.015272}9@ @@4@^A]cIIOe>!  nManaging dock network, ignoring radio surface power off. ,ٲj(?A&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2668116%(@6"@6%Eٱ6 &T BAHRS rotation from veh to nav: [[-0.206619,0.957112,0.203088],[-0.978380,-0.204030,-0.033838],[0.009050,-0.205689,0.978576]]6H@|rʿ??Nʿ/S?Tʿ}P?i6%(@I6m^;6CY^,|BybIBA4=bDrVDry׽%e=ٔ:Q->9Y=cFyDE>Q 54?Q 94)7LBYyQ I?ӾCI:i:4yBɮ7AB>B*CB_IB|BB =BBB=;B6Ejhq}FNOT Ignoring new targets: 175.12 m.Rh}:Zh}: ProNav: ac range: 175.124359 m, nav range: 148.869751 m, bearing: 277.746260 deg, approach rate: -0.457450 m/s, LOS rate: 0.066231 deg/s, cmd heading: 261.359975 deg, new cmd heading: 261.433496 deg. Bh5;HeadingCmd: 4.562875 target range: 175.124359 and range: 175.90 m.h@h*h"h hgfffdddjdZd@}Bɢм) ai)4!!i%ri%3ܿ-<- I-@IQbEuÙT4jEuÙT4rEuÁ/Eq EE*E"E;*E6;VE(N4ZEBE! ,3(?A>@>@>ٱ>O JAHRS rotation from veh to nav: [[-0.208305,0.957776,0.198179],[-0.978025,-0.205790,-0.033437],[0.008758,-0.200789,0.979595]]>Hʿ? ]?`K@WWʿ@?`tɿ@X?i>@I>E^;9dYd=jcFyjDjEj>lQ 5r4n??Q 9r4ne)n-LBYtyvQ Iv?nCInp:in:nB4yxɮza7Axjh%FNOT Ignoring new targets: 175.12 m.Rh%n:Zh%n:5 ProNav: ac range: 175.124359 m, nav range: 148.694504 m, bearing: 277.771776 deg, approach rate: -0.487095 m/s, LOS rate: 0.071005 deg/s, cmd heading: 261.433495 deg, new cmd heading: 261.510134 deg. Bh=B;MHeadingCmd: 4.564213 target range: 175.124359 and range: 175.90 m.hM@hI*hQ"hQ hQgYfafifididqdqjdyZd}޶@}Bɢ&) yi)iTqiIܿv7<aI@IQ]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771702-9@) @)@-/@)^AԉE EE(E"E;*E7;VEc44ZEa5@a5@a5@aU@AYIIO>ԩ BDAT read: Rx Time:04:10:09.0873  TRx dataTimestamp_ set to:1761538210.432226 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023854 @' ,j(?AɰB@B @BٱBG NAHRS rotation from veh to nav: [[-0.209132,0.959113,0.190700],[-0.977849,-0.206838,-0.032083],[0.008673,-0.193186,0.981124]]BHʿ ?h?Jyʿ-m%Á?Oȿ]e?iB@IB/^;@YV{ByVIi-Mb@Mb@Mb@)))) )9-m?~jt?L7A`堿Y-?y-<-+-A-@ ))-A)Y-A p<p;bDVD0y%==ٔO9Q->9Y=cFyDdE>Q 54r?Q 94 )LBY?Q E:y6Q I? CI ;i. ;4yɮ7AjhFNOT Ignoring new targets: 175.12 m.Rh:Zh:5 ProNav: ac range: 175.124359 m, nav range: 148.466644 m, bearing: 277.801342 deg, approach rate: -0.528116 m/s, LOS rate: 0.068632 deg/s, cmd heading: 261.510130 deg, new cmd heading: 261.598966 deg. Bh5h<;=HeadingCmd: 4.565763 target range: 175.124359 and range: 175.90 m.h=@h9*h9"h9 h9gAfAfAfE{BdIdIdIjdIZdU@W) @}}Bɢ}) :i) #顁ipi|ۿR<I@IԹ59@1 @1@=/@9echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274603BBB-IBS|BBBBBZ;B96EBBBBBC{5^A}? E  E E .E "E C;*E 86;VE ـ4ZE BE o=a% 2E o=a% JE 1 j- ,FC(?A~@~ @~ ٱ~h= MAHRS rotation from veh to nav: [[-0.209149,0.960876,0.181587],[-0.977847,-0.207111,-0.030329],[0.008466,-0.183908,0.982907]]~Hbʿ`??>?@JʿV?`Jǿs?i~@I~uE^;~CY{ByI-DAT read: 04:10:09.0873 LVL= 23776, 30801, 32674, 32755, AGC= 70, IDX= 97, 0.30,-1.915, 2.487,-2.466,-2.323, PHS= 0.510,-1.428,-0.187, RAW= 129.2, 12.9, CAL= 128.7, 14.1, ROT= 21.3, -14.1 5Ygot valid direction response: 04:10:09.0873 LVL= 23776, 30801, 32674, 32755, AGC= 70, IDX= 97, 0.30,-1.915, 2.487,-2.466,-2.323, PHS= 0.510,-1.428,-0.187, RAW= 129.2, 12.9, CAL= 128.7, 14.1, ROT= 21.3, -14.1 =PDAT read: Bearing 66.7, 17.9 (Local) =~Local bearing/azimuth received: Bearing 66.7, 17.9 (Local) MDAT read: Range 11 to 50 : 150.3 m (Round-trip 200.4 ms) speed 0.3 m/s MR#Rx 1: Read range and direction messages.\direction in FSK: [0.903621,0.352307,0.243615]Fpublishing direction and range infoyw?O{3? .?YLC\Qx )FI\?iȶ|?ZQ@f>`@ d{>bD)V>Id{RQ2?@?ݰ ? $>)FgIV>id{5T****** received valid address query ******5R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode.VD!y}2%}/=ٔ9Q->9Y=cFyDE>Q 54G?Q 94q)LBYy#Q I?,CIbid{jj'<@XnobnG;@Zir?Lq:HU?2i>:iA"i?*iitBiBiii&Bi7Ci+@- addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 150.300003 m, deltaT: 3.781663 s, deltaX: -25.599991 m, approachRate: -6.769506 m/s, rangeRepo size: 4jhFNOT Ignoring new targets: 175.12 m.Rh:Zh:9 ProNav: ac range: 175.124359 m, nav range: 148.215790 m, bearing: 277.833937 deg, approach rate: -0.466707 m/s, LOS rate: 0.060745 deg/s, cmd heading: 261.598977 deg, new cmd heading: 261.696928 deg. Bh&;HeadingCmd: 4.567473 target range: 175.124359 and range: 175.90 m.h(@h*h"h hgfffdddjdb@Zd>?}Bɢu)q }iy)(顁iY)oiwۿ<I(@Iu (DAT read: user:69> u BDAT read: Tx time:04:10:10.2811 } $Ping request sent.} AHRS rotation from veh to nav: [[-0.207008,0.964550,0.163680],[-0.978305,-0.205475,-0.026428],[0.008141,-0.165600,0.986159]]6H:ʿ?`z?@GNMʿJ?c2ſ ?i6$@I6V_^;6CYF{ByFIIJ=)J4=Zchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250699i%Mb@Mb@Mb@!!!! !9%X9v??QY%?y%<%%A%@ %xA)%A!Y%AbD=VD=ܲyM=%M/=ٔM7:Q-U>9U ?YU ?=UcFyUD];E]>aQ 54e?Q 94e)eLBYD?Q E:y߿Q I?ePCIeB )CB IB |BB B B B y;B W6EAI IQ Ia Ou >E  E E E "E ;*E 8;VE ZE BE =a 2E =a JE 9xYx=~cFy~D~I;E~>Q 5 4?Q 9 4)KBYyt߿Q I?oCI:i:64yɮ*9A!jhAMFNOT Ignoring new targets: 175.12 m.RhM:ZhM:e ProNav: ac range: 175.124359 m, nav range: 147.718094 m, bearing: 277.896332 deg, approach rate: -0.613801 m/s, LOS rate: 0.076978 deg/s, cmd heading: 261.798146 deg, new cmd heading: 261.884437 deg. BheQS;mHeadingCmd: 4.570745 target range: 175.124359 and range: 175.90 m.hmC@hi*hi"hi higififqfqdqdydyjdyZd}`?颭(}Bɢc) Di)qr1顱i_li=1ۿ}<IC@Iu9@q @q@u>0@qchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754944^AAzAdAQ A I I) O5 > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006609gC ,G)?A2:@25@2a ٱ2 >AHRS rotation from veh to nav: [[-0.204369,0.967875,0.146460],[-0.978858,-0.203352,-0.022045],[0.008446,-0.147869,0.988971]]2H(ʿ?5? RnʿL?_¿`?i2:@I2;^;0YF{ByFIbDNVDNyV6=%VO=ٔVQ-Z>9XYX=ZcFyZD^w;E^>`Q 5f4b?Q 9f4bR%)bKBYdyf3߿Q Ij?bCIbp:ibg:b=4ynBɮn8AnEjhFNOT Ignoring new targets: 175.12 m.Rh :Zh : ProNav: ac range: 175.124359 m, nav range: 147.485565 m, bearing: 277.925347 deg, approach rate: -0.587918 m/s, LOS rate: 0.073475 deg/s, cmd heading: 261.884425 deg, new cmd heading: 261.971605 deg. BhI;%HeadingCmd: 4.572267 target range: 175.124359 and range: 175.90 m.h%P@h!*h)"h) h)g)f)f1f1d1d1d1jdZd@y?颅-}Bɢ2O ) i)p]6顉DzDE EE/E"Eҝ;*E*5;VEJ4ZEa@a@a@a@i=}jQi`ڿ<hIP@I@ @@0@yiIAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258907ԩ ^A G% gAA 9 gAY AAU ؟AIa Iy O >I ,d()?A >B@>=@>}ٱ>r! JAHRS rotation from veh to nav: [[-0.203428,0.969290,0.138178],[-0.979050,-0.202651,-0.019822],[0.008789,-0.139316,0.990209]]>H ʿ@m?ԯ?aT`uɿ`=L?ʯ?i>B@I>Y^;>CYr{ByrI ttimMb@Mb@Mb@iiii i9mˡE?Q? rhYm'?ym\=mCm(Am@ m@)mbAiYmAbDVDk2y^;%9=ٔ5KQ->9"?Y"?=cFyD-;E>Q 547ꛊ?Q 94,Q =tI)KBY;(?Q E:yܿQ I?CIH;iG;E4yɮ8Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.511503jh)FNOT Ignoring new targets: 175.12 m.Rh@:Zh@: ProNav: ac range: 175.124359 m, nav range: 147.206833 m, bearing: 277.958198 deg, approach rate: -0.619163 m/s, LOS rate: 0.073111 deg/s, cmd heading: 261.971605 deg, new cmd heading: 262.070344 deg. BhH;B >B B IB {BB  =B B B e;B @6E%HeadingCmd: 4.573990 target range: 175.124359 and range: 175.90 m.h%!^@h!*h!"h! h!g!f)fIfMzBdQdQdQjdQZd]?i颥1}Bɢ^ ) i);ibiiڿ<c I!^@Ia@a @a@e#3@aE EE,E"E;*EB;VEg4ZEBEB=a2EB=aJEP ,(B)?A2J@2~E@2$Kٱ2 :AHRS rotation from veh to nav: [[-0.202488,0.970315,0.132238],[-0.979244,-0.201864,-0.018246],[0.008990,-0.133187,0.991050]]2H`ɿ ?`)?Uɿ@Ti?`H ?i2J@I2K^;2CYB{ByBI HJLbDNVDN1yZ%=%ZZ=ٔZ Q-Z>9\Y\=^cFy^Db(;Eb>dQ 5j4f 益?Q 9j4fC3)fKBYhyjܿQ Ij?fӿCIfk:if:fL4ypɮr#8ArEjh  FNOT Ignoring new targets: 175.12 m.Rh߬:Zh߬:% ProNav: ac range: 175.124359 m, nav range: 146.972092 m, bearing: 277.985849 deg, approach rate: -0.640501 m/s, LOS rate: 0.075569 deg/s, cmd heading: 262.070342 deg, new cmd heading: 262.153429 deg. Bh%rO;-HeadingCmd: 4.575440 target range: 175.124359 and range: 175.90 m.h-j@h)*h)"h) h)g1f1f1f1dddjdZdD@]5}Bɢ](O)a e٠ii)m)?iiim+hibڿ~ɜ<CQ Ij@I9@ @@4@ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014633E E{E)E"E+;*E_/;VEFA4ZEa@a@a@a@^A A >A >) A} .AI I O >XV ,]\)?A2checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266684|Y|ByIiMb@Mb@Mb@ 9Q?~jt?~jthY(?y<DA@ A)@YbDVD:2y=%;=ٔQ->9 ?Y ?=cFy DE>Q 54⛊?Q 94:)KBY)?Q E:y޿Q I?CI ;i& ;S4yɮ7AB*** querying acoustic contact ***i ijh  FNOT Ignoring new targets: 175.12 m.Rh:Zh:% ProNav: ac range: 175.124359 m, nav range: 146.697342 m, bearing: 278.019972 deg, approach rate: -0.628725 m/s, LOS rate: 0.078231 deg/s, cmd heading: 262.153425 deg, new cmd heading: 262.255984 deg. Bh%V;-HeadingCmd: 4.577230 target range: 175.124359 and range: 175.90 m.h-x@h)*h)"h) h)g1f1f9f='{Bd9d9d9jdAZdE@9}Bɢ"y) -7i))52C11i5Ffi=\ڿ=ћ<=6I=x@IA)@ @ @ /@ Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519365B >B B IB |BB B B DB B;B 6E^A- Kԁ A ؟AE  E E (E "E F;*E a9;VE c44ZE BE =a 2E =a JE g>\ ,7v)?AY'|ByII%>)%<bD5VD5y=>L=%ER=ٔAQ-E>9M"?YM"?=McFyMDIEU>YQQ 5e4USߛ?Q 9e4UiA)QYiyiQ Im?UCIUO+;iU:UZ4yqɮuV7AqjhFNOT Ignoring new targets: 175.12 m.Rh:Zh: ProNav: ac range: 175.124359 m, nav range: 146.452164 m, bearing: 278.050536 deg, approach rate: -0.628802 m/s, LOS rate: 0.078518 deg/s, cmd heading: 262.255987 deg, new cmd heading: 262.347832 deg. BhW;HeadingCmd: 4.578834 target range: 175.124359 and range: 175.90 m.h΅@h*h"h hgfffdddjdZd@@ =}Bɢ 1)  &i)Fi]ei4(ڿ<%I%΅@I!uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770928ԉ@ @@/@Ա^AgE % checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022695AQ Iq I O >c ,)?A24b@2\@2 ٱ2uk :AHRS rotation from veh to nav: [[-0.199680,0.972094,0.123132],[-0.979823,-0.199201,-0.016311],[0.008672,-0.123904,0.992256]]2H@ɿd??`Znɿ۳?3@?i24b@I2z^;2CYZM|By^)IddbDfVDfk1yn=%nQ=ٔrT:Q-r>9pYt=vcFyvDv;Ev>xQ 5~4zۛ?Q 9~4zH)xYy@޿Q I?z:CIz;iz;zZa4y ɮ 6A jh1=FNOT Ignoring new targets: 175.12 m.Rh= :ZhE :M ProNav: ac range: 175.124359 m, nav range: 146.205688 m, bearing: 278.081056 deg, approach rate: -0.630956 m/s, LOS rate: 0.078263 deg/s, cmd heading: 262.347839 deg, new cmd heading: 262.439556 deg. BhUV;UHeadingCmd: 4.580434 target range: 175.124359 and range: 175.90 m.hU뒒@hY*hY"hY hYgYfafafadadidijdiZdm @额@}Bɢ) ri)I顡iadiٿ<I뒒@IԹE EE*E"E;*E3;VE(N4ZEa@a@a@a@9@ @@/@@fA@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274574^AAeAzAhAA! I1 IA OM >A i ,)?A2m@2h@2 ٱ2( :AHRS rotation from veh to nav: [[-0.198271,0.972581,0.121554],[-0.980111,-0.197796,-0.016084],[0.008400,-0.122325,0.992455]]2H`ɿa? $?@]aQɿ`bx 3?P0?i2m@I2r^;2CY^j|Byb;IiMb@Mb@Mb@ 9Zd;O?Mb? rh?Yj?y<C<p A @)A=<checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527724YAbD VD 1y%=%-7=ٔ-' :Q-->91Y1=5cFy5%D=!S;E=>AQ 5E4Eכ?Q 9M4E0O)EKBYM?Q EM:yM޿Q IM?E\CIEj:iE:E'i4yYɮ]I6AYBu>BqBu&IBuI|BBqBqBqBu6;Bu6Ejh1=FNOT Ignoring new targets: 175.12 m.Rh= :Zh= :m ProNav: ac range: 175.124359 m, nav range: 145.945999 m, bearing: 278.113856 deg, approach rate: -0.552928 m/s, LOS rate: 0.069961 deg/s, cmd heading: 262.439555 deg, new cmd heading: 262.538129 deg. Bhu@;uHeadingCmd: 4.582155 target range: 175.124359 and range: 175.90 m.hu@hy*hy"hy hygyfyffj{BdddjdZd@额D}BɢӼ) pZi)TMi ci^ٿ<I@IAbE [4jE Y4rE sq0E EE)E"E;*E@;VEFA4ZEBEɇq ,Dk)?A^y@^}t@^ٱ^C nAHRS rotation from veh to nav: [[-0.196868,0.972899,0.121290],[-0.980397,-0.196363,-0.016227],[0.008029,-0.122107,0.992485]]^H2ɿ !? ?i_ j"ɿٝq?`Bn?i^y@I^W^;^CYz|Byz_IbDVD1y=>%=E=ٔ=i:Q-E>9AYA=EcFyE-DM8b;EM>QQ 5]4U@ԛ?Q 9]4UU)UKBYaye޿Q Ie?U}CIU|:iU:Uhp4ymBɮmB5AuEjhFNOT Ignoring new targets: 175.12 m.Rh:Zh: ProNav: ac range: 175.124359 m, nav range: 145.704453 m, bearing: 278.144323 deg, approach rate: -0.616285 m/s, LOS rate: 0.077862 deg/s, cmd heading: 262.538128 deg, new cmd heading: 262.629680 deg. BhU;HeadingCmd: 4.583753 target range: 175.124359 and range: 175.90 m.h@h*h"h hgfffdddjdZd@uG}Bɢuhż)q }%"iy)}`Oyyi}Ibiٿ<gI@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=4.031660!@! @!@%0@!aEU EUEU0EQ"EU;*EU:;VEU4ZEQa]@a]@a]@a]@ԑ^A-4A I I Թ O >] checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282635Cw ,2)?AY~|By~jIԙiMb@Mb@Mb@ 9&1?~jtxy&1?Y?yĻ`< )bAYAbDVDky,=%B=ٔQ->9Y=cFy6DE>Q 548Л?Q 94[)KBY?Q E:yQ I?CI:iv:w4yɮ4AB*** querying acoustic contact ***i ijh!%FNOT Ignoring new targets: 175.12 m.Rh%W:Zh-W:= ProNav: ac range: 175.124359 m, nav range: 145.480835 m, bearing: 278.175955 deg, approach rate: -0.531763 m/s, LOS rate: 0.075337 deg/s, cmd heading: 262.629680 deg, new cmd heading: 262.724722 deg. Bh=N;EHeadingCmd: 4.585412 target range: 175.124359 and range: 175.90 m.hE@hA*hA"hA hAgIfIfIfM{BdQdQdYjdYZd]\@颅J}BɢM) i)P顉i,biPٿ%<RI@II))@) @)@51@1@==@==checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535173AAAAAAB>BB_IB|BBBBB ;B5EB1B1B1B5ǿ =B5ǿ =C5Ǭ=5^AoAA II IY Em  Em yEm +Ei "Em u;*Em Q.;VEm [4ZEi BEm  U} , )?A2+@2@2 лٱ2x :AHRS rotation from veh to nav: [[-0.192865,0.973864,0.119969],[-0.981205,-0.192205,-0.017158],[0.006349,-0.121024,0.992629]]2Hͯȿ )?Q?f@.ȿ葑rz? j?i2+@I2O^;0YB|ByBIbDJVDJyR=%R^=ٔVܕ;Q-V>9TYT=ZcFyZ>DZ6<EZ>\Q 5b4^̛?Q 9b4^@a)^ LBYdyf|Q If?^CI^:i^R:^*~4yjBɮjt4AjEjh|FNOT Ignoring new targets: 175.12 m.RhU:ZhU: ProNav: ac range: 175.124359 m, nav range: 145.284988 m, bearing: 278.203393 deg, approach rate: -0.533867 m/s, LOS rate: 0.074895 deg/s, cmd heading: 262.724729 deg, new cmd heading: 262.807154 deg. BhM;%HeadingCmd: 4.586850 target range: 175.124359 and range: 175.90 m.h%zǒ@h!*h!"h! h!g!f!f)f)d)d)d1jd1Zd5F @eM}Bɢë)a eνia)m-Riiim\aiu!ٿupSy i ,*?A2x@2?@2èٱ2 :AHRS rotation from veh to nav: [[-0.190434,0.974453,0.119067],[-0.981686,-0.189662,-0.017889],[0.005150,-0.120293,0.992725]]2H &`ȿ`.?%{?iFȿQwu?˾`g?i2x@I2q^;0Yv }ByzII~<)|bDVDk1y=%C=E% E%E%)E!"E%;*E%|;;VE%FA4ZE!a-@a-@a-@a-@ٔ5;;Q-5>91Y1==cFy=FD=;E=>AQ 5M4Eț?Q 9M4Egg)ELBYQyU,Q IU?ECIEp:iE:E4yYɮ]3AajhFNOT Ignoring new targets: 175.12 m.Rh:Zh: ProNav: ac range: 175.124359 m, nav range: 145.060120 m, bearing: 278.234748 deg, approach rate: -0.528139 m/s, LOS rate: 0.073756 deg/s, cmd heading: 262.807156 deg, new cmd heading: 262.901366 deg. BhxJ;HeadingCmd: 4.588494 target range: 175.124359 and range: 175.90 m.hԒ@h*h"h hgfffdddjdZdd@MP}BɢR) %xi!)-)S19i=%`i}ؿxH<IԒ@I5checking for new query: numPingsReceived=0, elapsed TxPingTime=5.2915989@ @@4@1 ^A SI I O >Q # , -*?AB2>B0B2IB2}BB0B0B2DB2;B25EBchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.542733Rn͉@R5Ȑ@R%sٱR ^AHRS rotation from veh to nav: [[-0.186844,0.975048,0.119880],[-0.982383,-0.185907,-0.019052],[0.003710,-0.121327,0.992606]]RHǿ3?o?oǿL dn?Pl?iRn͉@IRa^;RCYb!}BybIiMMb@Mb@Mb@IIII I9Mq= ףp?I +?YM ?yM̼M99Y=cFyOD<E>))Q 554-Û?Q 9=4-m)-%LBY= ?Q E=:y=QQ I=?-CI-:i- :-4yIɮM3AIjhFNOT Ignoring new targets: 175.12 m.Rh X:Zh X: ProNav: ac range: 175.124359 m, nav range: 144.822632 m, bearing: 278.271442 deg, approach rate: -0.492448 m/s, LOS rate: 0.076212 deg/s, cmd heading: 262.901358 deg, new cmd heading: 263.011620 deg. Bh6Q;E- E-yE-+E)"E-u;*E-Q.;VE- [4ZE)BE)a52E)a5JE)a=:E)a=EHeadingCmd: 4.590419 target range: 175.124359 and range: 175.90 m.hE@hA*hA"hI hIgIfIfQfU@|BdQdQdQjdYZd]#@S}BɢW]) Gi){Si_iؿMO<I I@IYI@Q @Q@U4@Q@]gA@Y5checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794620ԁ ^Au Ա IQ Ia Om >b ,I*?AY6}ByIbD%VD%k2y5Z=%=S=ٔ=Q-=>99YA=EcFyEWDEEE>IQ 5U4M ?Q 9U4M8s)M/LBYYyYQ I]?MCIM;iM];MP4yaɮe33AeEjhFNOT Ignoring new targets: 175.12 m.Rh:Zh: ProNav: ac range: 175.124359 m, nav range: 144.630463 m, bearing: 278.301228 deg, approach rate: -0.534796 m/s, LOS rate: 0.083004 deg/s, cmd heading: 263.011624 deg, new cmd heading: 263.101102 deg. Bhc;HeadingCmd: 4.591980 target range: 175.124359 and range: 175.90 m.h@h*h"h hgfffdddjdZd@@uchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.046941yMU}BɢMfw)Q UiQ)USTQQiUJ_i]hyؿ]Aq<]iIe@Ia@ @@/@ԙE EE'E"E^;*E|;;VE'4ZEa%@a%@a%@a%@^A Ii Iy O >% checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298657 ,c*?A2@2 @2(ٱ2V :AHRS rotation from veh to nav: [[-0.178741,0.976411,0.121132],[-0.983896,-0.177462,-0.021357],[0.000643,-0.122998,0.992407]]2H@ƿ>?}?@|ƿޕ"E?|?i2@I2l^;2C Fg>FCYJK}ByNI~G hA)U9UhAY]Ayq?AiMb@Mb@Mb@ 9x?ˡE~jt?YK>y'<A A)YAbDVD:yI4=%1=ٔ;Q->9Y = cFy aD e<E>Q 54Q E%:y% Q I%?,CI:i:`4y1ɮ52A1MB*** querying acoustic contact ***iI iIjhY]FNOT Ignoring new targets: 175.12 m.RheA:ZheA:u ProNav: ac range: 175.124359 m, nav range: 144.424774 m, bearing: 278.335977 deg, approach rate: -0.445071 m/s, LOS rate: 0.075298 deg/s, cmd heading: 263.101100 deg, new cmd heading: 263.205496 deg. BhuN;}HeadingCmd: 4.593802 target range: 175.124359 and range: 175.90 m.h}n@hy*hy"h hgfff|BdddjdZd@r@颽W}Bɢ"b) Hi)2~Ti^i=ؿ֚<kIn@IBM>BIBMIBMG}BBM =BIBIBM;BM5Ea@a @a@i@ichecking for new query: numPingsReceived=0, elapsed TxPingTime=6.552190) E5  E5 E5 *E1 "E5 ;*E5 E7;VE5 (N4ZE1 BE5 =aE 2E5 =aE JE5 Q L ,}*?A2 7@21@23:ٱ2K* :AHRS rotation from veh to nav: [[-0.174164,0.977037,0.122740],[-0.984716,-0.172669,-0.022798],[-0.001081,-0.124835,0.992177]]2HKƿC? k? ˂ƿ DX Q@+?i2 7@I27[^;2CYBU}ByBI J;J;bDNVDNk2yVM<%Vy=ٔV;Q-V?9XYX=ZcFyZgD^h<E^?`Q 5f4bⷛ?Q 9f4b|)bFLBYdyfoQ Ij?bACIbH:ib:b4rchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.802781ypɮv2Atjh FNOT Ignoring new targets: 175.12 m.Rh]:Zh]:- ProNav: ac range: 175.124359 m, nav range: 144.278244 m, bearing: 278.360471 deg, approach rate: -0.445069 m/s, LOS rate: 0.074473 deg/s, cmd heading: 263.205492 deg, new cmd heading: 263.279048 deg. Bh-pL;-HeadingCmd: 4.595086 target range: 175.124359 and range: 175.90 m.h5 @h1*h1"h1 h1gfffdddjdZd`U@UY}BɢUY)Q U`iQ)]4TYYi]]ieؿeA->IIOD>Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=7.054615ԁ E= x E= jE= ,E9 "E= L;*E= k&;VE= g4ZE9 aE @aE @aE @aE @7 ,*?A02a@2a\@2xK;ٱ2 >AHRS rotation from veh to nav: [[-0.169046,0.977776,0.124010],[-0.985603,-0.167306,-0.024387],[-0.003098,-0.126347,0.991981]]2H@KſI? ?Ijſ``l`i`#,O?i2a@I2r^;2CYFd}ByFIbDNVDNyM=%UA=ٔe;Q-e>9qYq=}cFy}pDE<E>Q 54?Q 94O)SLBYyQ I?[CIl;i;4yɮz2A jhAEFNOT Ignoring new targets: 175.12 m.RhM<:ZhM<:} ProNav: ac range: 175.124359 m, nav range: 144.084351 m, bearing: 278.392487 deg, approach rate: -0.407773 m/s, LOS rate: 0.067422 deg/s, cmd heading: 263.279040 deg, new cmd heading: 263.375215 deg. Bh}9;HeadingCmd: 4.596765 target range: 175.124359 and range: 175.90 m.h@h*h"h hgfԉffdddjdZd`8@checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306796%[}Bɢ%ZK)! %p BA BE IBE p}BBE =BA BA BE ;BE 5EIY Om > checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558709ī ,KY*?AV@VH@V@w;ٱV` bAHRS rotation from veh to nav: [[-0.164242,0.978808,0.122306],[-0.986409,-0.162380,-0.025106],[-0.004714,-0.124768,0.992175]]VH@ſeR?wO?@Ŀh`Ns`?iV@IVu]^;TYje}ByhIn<)np;ppi]Mb@Mb@Mb@YYYY Y9]m?)\(Q?Y]>y]Ga]u<] A]E@ Y)]AYYYbDuVDu1y:%G=ٔh;Q->9Y=cFyxDD<E>Q 540?Q 94)[LBY^>Q E:yQ I?tCIL:i3:4yBɮ2AjhFNOT Ignoring new targets: 175.12 m.Rhg:Zhg:u ProNav: ac range: 175.124359 m, nav range: 143.912445 m, bearing: 278.423386 deg, approach rate: -0.479505 m/s, LOS rate: 0.086292 deg/s, cmd heading: 263.375209 deg, new cmd heading: 263.468017 deg. Bhul;}HeadingCmd: 4.598384 target range: 175.124359 and range: 175.90 m.h}%@hy*h"h hgfff|BdddjdZd9@Et EE*E"E{;*E6;VE(N4ZEBEI ⫲ ,j4*?A2@2@2;ٱ2m :AHRS rotation from veh to nav: [[-0.159004,0.979931,0.120217],[-0.987259,-0.157058,-0.025555],[-0.006161,-0.122748,0.992419]]2HAZĿ[?ƾ? |Ŀ`+G9XYX=ZcFyZD^`Q 5f4b1?Q 9f4b)bbLBYdyfQ If?bCIb:ib:bG4ylɮn2Al9jhyFNOT Ignoring new targets: 175.12 m.RhL:ZhL: ProNav: ac range: 175.124359 m, nav range: 143.751373 m, bearing: 278.452008 deg, approach rate: -0.411084 m/s, LOS rate: 0.073131 deg/s, cmd heading: 263.468018 deg, new cmd heading: 263.553981 deg. BhH;HeadingCmd: 4.599885 target range: 175.124359 and range: 175.90 m.hA2@h*h"h hgfffdddjdZd @^}Bɢvd) `Li)tT!i%\)[i%gv׿-<-NI-A2@I)checking for new query: numPingsReceived=0, elapsed TxPingTime=8.069047@ @@4@qE{ EE,E"E;*E5;VEg4ZEa @a @a @a @ԙ^A5ѼAEfAzAEgAI) I9 M checking for new query: numPingsReceived=0, elapsed TxPingTime=8.322776OU > $ָ ,*?A2݊@2ؑ@2p;ٱ2 :AHRS rotation from veh to nav: [[-0.154066,0.980902,0.118720],[-0.988034,-0.152064,-0.025792],[-0.007246,-0.121273,0.992593]]2Hmÿ c?`qd?`vÿ i} Q?i2݊@I2nd^;2CYVM}ByZIԙiMb@Mb@Mb@ 9X9v?Zd;O~jth?Y>yj<D;(A bA)AYfAbDVDy/%9=ٔ ;Q->9Y=cFyD8<E>Q 54ɦ?Q 94)dLBY>Q E:yQ I?CIC ;i ;4y ɮ 3A EB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 175.12 m.Rhާ:Zhާ: ProNav: ac range: 175.124359 m, nav range: 143.556244 m, bearing: 278.484670 deg, approach rate: -0.437800 m/s, LOS rate: 0.073381 deg/s, cmd heading: 263.553969 deg, new cmd heading: 263.652087 deg. BhqI;HeadingCmd: 4.601597 target range: 175.124359 and range: 175.90 m.hH@@h*h"h hgfff|BdddjdZdz!@%`}Bɢ-i)) -i))5zT11i5Yi=J>׿=F<=`\I=H@@I9@ @@O4@B>B(CBBB =BBDB;B5Echecking for new query: numPingsReceived=0, elapsed TxPingTime=8.574703^A >JbEșT4jEwX4rE$Z0E  E rE *E "E ՘;*E *;VE (N4ZE BE  u , *?A2y@2@@2x<ٱ2x :AHRS rotation from veh to nav: [[-0.149414,0.981415,0.120413],[-0.988743,-0.147324,-0.026128],[-0.007902,-0.122961,0.992380]]2H ÿ@g? _Ӿ?ȣ¿@./az?i2y@I2M^;0Y^1}By^I ``f=f=bDjVDjyr%r[=ٔv:Q-v>9tYt=vcFyvDzN<Ez>checking for new query: numPingsReceived=0, elapsed TxPingTime=8.826757Q 5 4!?Q 94)fLBYyeQ I?CI:ig:Ś4y!ɮ%~3A!jhAMFNOT Ignoring new targets: 175.12 m.RhM:ZhU: ProNav: ac range: 175.124359 m, nav range: 143.390854 m, bearing: 278.512061 deg, approach rate: -0.465514 m/s, LOS rate: 0.077186 deg/s, cmd heading: 263.652078 deg, new cmd heading: 263.734347 deg. BhS; HeadingCmd: 4.603033 target range: 175.124359 and range: 175.90 m.h  L@h *h "h  h gff9f9d9dAdAjdAZdE@x="@颵a}Bɢ') @i)TQU项iXi=׿WŽ<soI L@I@ @@/@Iqchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.079326^AeI1 IA OM >ԙ D zD E% k E% zE% )E! "E% f;*E% .;VE% FA4ZE! a- @a- @a- @a- @ ,P+?A6U%@6 @6<ٱ6Sm >AHRS rotation from veh to nav: [[-0.145447,0.981743,0.122580],[-0.989332,-0.143299,-0.026207],[-0.008163,-0.125084,0.992113]]6H¿@pj?ka?`W¿ ՚b?i6U%@I6Q^;6CYF }ByFI N49\Y\=^cFy^D%/ <E->)Q 554-3?Q 9=4-)-hLBYYy]Q I]?-CI-;i-;-̚4yaɮm3AijhamFNOT Ignoring new targets: 175.12 m.yRh:Zh: ProNav: ac range: 175.124359 m, nav range: 143.209900 m, bearing: 278.541765 deg, approach rate: -0.411120 m/s, LOS rate: 0.067571 deg/s, cmd heading: 263.734340 deg, new cmd heading: 263.823564 deg. Bh%~9;]HeadingCmd: 4.604590 target range: 175.124359 and range: 175.90 m.h]X@ha*ha"hi higfffdddjdZd "#@b}Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.330746ɢL7)  i)GVi-Wi8ֿ*<;RIX@I ԡ@ @@/@^A zlA >A >B >B B IB G}BB B B B ;B 5EBBBʔCBBʾ =C*5I I! O- > checking for new query: numPingsReceived=0, elapsed TxPingTime=9.582652 d , 2+?A2?@@2;@2'M<ٱ2j :AHRS rotation from veh to nav: [[-0.142196,0.981903,0.125091],[-0.989806,-0.140020,-0.026062],[-0.008075,-0.127522,0.991803]]2H`x3¿k??|@-@ `R`ټ?i2?@@I28^;2CYB}ByBIi Mb@Mb@Mb@     9 +? ףp= {GztY v>y Q8 ף A  A) A Y bD}VD}:2yļ%==ٔPUQ->9Y=cFyDX<E>Q 54?Q 94ܟ)gLBY>Q E:yQ I?CI:i<:Ԛ4yɮ3AjhFNOT Ignoring new targets: 175.12 m.Rh:Zh: ProNav: ac range: 175.124359 m, nav range: 143.015930 m, bearing: 278.573040 deg, approach rate: -0.499903 m/s, LOS rate: 0.080710 deg/s, cmd heading: 263.823570 deg, new cmd heading: 263.917520 deg. Bh];HeadingCmd: 4.606230 target range: 175.124359 and range: 175.90 m.hI  ,|L+?A :[W@:"R@:;ٱ:H FAHRS rotation from veh to nav: [[-0.139403,0.982034,0.127182],[-0.990206,-0.137249,-0.025591],[-0.007676,-0.129504,0.991549]]:H@l?G?`įa4p`ź?i:[W@I:tR^;:CYJ|ByJIIP)R9`Yd=fcFyfDf;Ef>hQ 5n4j~?Q 9n4j)jfLBYpyrQ Ir?jCIj;ij;jښ4ytɮv4AtjhFNOT Ignoring new targets: 175.12 m.Rh@:Zh%@:- ProNav: ac range: 175.124359 m, nav range: 142.841110 m, bearing: 278.601076 deg, approach rate: -0.463486 m/s, LOS rate: 0.074422 deg/s, cmd heading: 263.917526 deg, new cmd heading: 264.001738 deg. Bh5LL;5HeadingCmd: 4.607699 target range: 175.124359 and range: 175.90 m.h5Fr@h9*h9"h9 h9g9f9fAfAdAdAdIjdIZdM$@ud}Bɢ}貼)y }iy)PX顁i~TiRvֿY<(g/IFr@I}- 2Acoustic response timeout%$ ,GWf+?APYE|ByMwIiMb@Mb@Mb@ 9Q?V-~jtY\?y A@ bA)1AYAbDVDyZ%8=ٔQ->9Y=cFyDE > Q 54 j?Q 94 ) ]LBY?Q E:yQ I? (CI  ;i  ; a4y)ɮ-5A)EB*** querying acoustic contact ***iA iAjhQ]FNOT Ignoring new targets: 175.12 m.Rh]:Zh]:m ProNav: ac range: 175.124359 m, nav range: 142.606735 m, bearing: 278.634991 deg, approach rate: -0.526716 m/s, LOS rate: 0.076343 deg/s, cmd heading: 264.001729 deg, new cmd heading: 264.103641 deg. BhmQ;uHeadingCmd: 4.609478 target range: 175.124359 and range: 175.90 m.h}؀@hy*hy"hy hygyfyff|BdddjdZd@p}%@颹ɢq) i)ZiRiU <ֿUΌB&CBIB }BB =B?DBDBl;B~5EE9@A @A@E60@A2Acoustic response timeoutEr EoE+E"E;*E );VE [4ZEBEO- ,3+?A2{@2xv@2t.;ٱ2 :AHRS rotation from veh to nav: [[-0.135012,0.981853,0.133176],[-0.990827,-0.133005,-0.023889],[-0.005743,-0.135179,0.990804]]2H HWk? ?۴ R wvƅwM?i2{@I2m^;0YZ|ByZkIbDfVDfynoJ%n_=r2Acoustic response timeoutٔvݫQ-v>9tYt=vcFyvDz'E<Ez>|Q 54?Q 9 4u)VLBY y Q I ?BCIy:iN:4y Bɮc5AEjhAEFNOT Ignoring new targets: 175.12 m.RhM:ZhM:] ProNav: ac range: 175.124359 m, nav range: 142.411606 m, bearing: 278.662938 deg, approach rate: -0.529173 m/s, LOS rate: 0.075894 deg/s, cmd heading: 264.103635 deg, new cmd heading: 264.187591 deg. Bh]WP;eHeadingCmd: 4.610943 target range: 175.124359 and range: 175.90 m.heٌ@ha*ha"ha hagifififididqdqjdqZdu :&@颥e}BɢҼ) +i)\顩i:,Qi ֿ#f<Iٌ@I=9@A @A@E4@A9^A5NJNYߑߕ%=2Acoustic response timeoutI! I1 OE >ԁ E y E rE 'E "E ;*E *;VE '4ZE a @a @a @a @5 , +?A6H@6@6j;ٱ6j >AHRS rotation from veh to nav: [[-0.133248,0.981865,0.134859],[-0.991072,-0.131363,-0.022820],[-0.004690,-0.136696,0.990602]]6HA@ok? C?ܶ~^H6s??i6H@I6\^;6CYF|ByFcI HHN=N=bDRVDRyZ %ZM=ٔZq-Q-^>9\Y\=bcFybDb;Eb>dQ 5j4f?Q 9j4f7)fOLBYlynRQ In?f_CIf ;ifu;f4yrBɮr5AvEjh FNOT Ignoring new targets: 175.12 m.Rh:Zh:% ProNav: ac range: 175.124359 m, nav range: 142.201660 m, bearing: 278.692931 deg, approach rate: -0.528310 m/s, LOS rate: 0.075585 deg/s, cmd heading: 264.187592 deg, new cmd heading: 264.277702 deg. Bh-~O;-HeadingCmd: 4.612516 target range: 175.124359 and range: 175.90 m.h5@h1*h1"h1 h1g1f1f9f9d9dAdAjdAZdE@'@a颱ɢpӼ) 9i)5P^_99iEvsOiuտ}<} "I@I2Acoustic response timeoutԑm9@i @i@m4@qGE}9AYEfAԱ^A $II IY Om >B >B %CB xIB |BB =B B DB q;B  2Acoustic response timeoutP` ,+?A:@:@: ];ٱ: FAHRS rotation from veh to nav: [[-0.131967,0.982121,0.134254],[-0.991248,-0.130287,-0.021256],[-0.003384,-0.135884,0.990719]]:H`G m?:/?NB ĕkd`?i:@I:OG^;8YJ|ByNWIi%Mb@Mb@Mb@!!!! !9%d;O?QMbY%?y%u%%A! !)%A!Y%A 11bD=VD=k1yM7%MA=ٔM2JQ-M>9QYQ=UcFyUD]WH;E]>aQ 5m4e9?Q 9m4e)eHLBYm?Q Em:yuݿQ Iu?e~CIe:ie':e,4yyɮ}6AyjhFNOT Ignoring new targets: 175.12 m.Rh:Zh:Թ ProNav: ac range: 175.124359 m, nav range: 141.967651 m, bearing: 278.723537 deg, approach rate: -0.552935 m/s, LOS rate: 0.072439 deg/s, cmd heading: 264.277696 deg, new cmd heading: 264.369667 deg. BhF;HeadingCmd: 4.614121 target range: 175.124359 and range: 175.90 m.hᦓ@h*h"h hgffQfU{BdQdYdYjdYZd]'@颩ɢg) LiEn EmE)E"EÏ;*E(;VEFA4ZEBE-A>IQ Iq O >9 &H ,+?A6@6Y@6ݧ;ٱ6 BAHRS rotation from veh to nav: [[-0.130794,0.982375,0.133534],[-0.991407,-0.129289,-0.019914],[-0.002299,-0.134991,0.990844]]6Hؽo?@? ldb fG?i6@I6[^;6CYF|ByJNIbDRVDR4dyZ!%ZU=ٔZ8Q-Z>9\Y\=^cFy^DbI;Eb>dQ 5j4f6?Q 9j4fg»)fBLBYhyjݿQ In?fCIf :if:f4ypɮrV6Apjh  FNOT Ignoring new targets: 175.12 m.Rh:Zh:% ProNav: ac range: 175.124359 m, nav range: 141.755005 m, bearing: 278.751328 deg, approach rate: -0.553032 m/s, LOS rate: 0.072383 deg/s, cmd heading: 264.369657 deg, new cmd heading: 264.453153 deg. Bh%F;-HeadingCmd: 4.615578 target range: 175.124359 and range: 175.90 m.h-Ѳ@h)*h)"h1 h1g1f1f1f9d9d9d9jdAZdE?(@iɢmʄ)q u[iq)udqqiu]ALi})tտ <C -IѲ@I]2Acoustic response timeout1@1 @1@1@1AEt EqEE"E{;*E*;VEZEa@a@a@a@^AmIIOM>q BDAT read: Response Not Received  *response not received (DAT read: user:70>  BDAT read: Tx time:04:10:22.7311  $Ping request sent. 9Y=cFyDЪ:E>Q 54Ԃ?Q 943ɻ)?LBY?Q E:yܿQ I?CI ;iG ;4yɮ6AB*** querying acoustic contact ***i ijh)5FNOT Ignoring new targets: 175.12 m.Rh=:Zh=:] ProNav: ac range: 175.124359 m, nav range: 141.505707 m, bearing: 278.783310 deg, approach rate: -0.564680 m/s, LOS rate: 0.072569 deg/s, cmd heading: 264.453149 deg, new cmd heading: 264.549264 deg. Bh]6G;eHeadingCmd: 4.617256 target range: 175.124359 and range: 175.90 m.he@hi*hi"hi hiqgifyff{BdddjdZdA)@Ud}BɢU )Q ]siY)]#hYYi]bhJie0=տe "Z , z,?A2@2p@2e%:ٱ2E~ :AHRS rotation from veh to nav: [[-0.130178,0.982706,0.131688],[-0.991490,-0.128940,-0.017921],[-0.000631,-0.132900,0.991129]]2H Tr?#?@J@Y@D@T?i2@I2`^;0YZ[|By^2Ibchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502284j@AjAAbDnVDn0yvsb%vZ=ٔv Q-z>9xYx=zcFyzD~g9E~>Q 5 4?Q 9 4λ)t) ei)5:k顩iHi7տX<RIM̓@IQ@Q @Q@U0@Q^A2DAzAgAuchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754159) I I O >E q E rE *E "E ;*E *;VE (N4ZE a @a @a @a @Q  ,^,?A2n@25@2}9ٱ2 :AHRS rotation from veh to nav: [[-0.130085,0.982927,0.130125],[-0.991503,-0.128896,-0.017554],[-0.000482,-0.131303,0.991342]]2H@#t?@?d?@?i2n@I2=^;2CYB_|ByB4IbDJVDJkyR <%RO=ٔV:ŹQ-V>9TYT=ZcFyZDZx9EZ>1Q 5=45|?Q 9=45Uջ)5:LBY9y=ܿQ IE?5CI5;i5n;5O4yMBɮM7AMEjhquFNOT Ignoring new targets: 175.12 m.Rh}~:Zh}~: ProNav: ac range: 175.124359 m, nav range: 141.060898 m, bearing: 278.840647 deg, approach rate: -0.566280 m/s, LOS rate: 0.073216 deg/s, cmd heading: 264.631390 deg, new cmd heading: 264.721548 deg. BhH;HeadingCmd: 4.620263 target range: 175.124359 and range: 175.90 m.h1ٓ@h*h"h hgfffdddjdZd+@c}BɢW7) i)niGiԿ< &fI 1ٓ@I1iIAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.0119809@ @!@%0@!Y^AMQOIIO>ԁ B >B B ?IB r|BB B B DB 0;B _5E} checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258190c ,U05,?A0B@B柒@BUK:ٱBp{ JAHRS rotation from veh to nav: [[-0.130001,0.983115,0.128782],[-0.991514,-0.128798,-0.017660],[-0.000775,-0.129985,0.991516]]BHu?{?zw|hbIW ?iB@IBp5^;@YbQ|Byb+I ddj=himMb@Mb@Mb@iiii i9mx&1?y&1|~jthYm!?ym`廙mDim/@ i)mxAiYmAbDVDy%<=ٔ0:Q->9Y=cFyDK9E>Q 54y?Q 948ܻ)8LBY!?Q E:y<ۿQ I?CI:e 1 ,- O,?A2ܢ@2@2hf:ٱ2 :AHRS rotation from veh to nav: [[-0.130275,0.983191,0.127924],[-0.991478,-0.129072,-0.017688],[-0.000879,-0.129138,0.991626]]2H٬ Lv?_? /j @Lf?i2ܢ@I2P^;2CYB[|ByB1I HJ4<bDNVDNܲyV<%V[=ٔV09Q-V>9XYX=ZcFyZD^AE^>``Q 5f4bv?Q 9f4b_)b7LBYhyjEۿQ Ij?b8CIb:ib :b.!4yYɮ]7AYjhFNOT Ignoring new targets: 175.12 m.Rh:Zh: ProNav: ac range: 175.124359 m, nav range: 140.581955 m, bearing: 278.900268 deg, approach rate: -0.596809 m/s, LOS rate: 0.074592 deg/s, cmd heading: 264.815969 deg, new cmd heading: 264.900714 deg. BhL;HeadingCmd: 4.623390 target range: 175.124359 and range: 175.90 m.h@=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762391hq*hq"hq hqgyfyfyfydddjdZd,@b}BɢM) ci)uiPCi%0tԿ%q<%CI%@I)@ @@4@Ej EE)E"E;*E4;VEFA4ZEa@a@a@a@^AoMA >A >I I  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015800O >A | ,h,?A6K@6@6WX:ٱ6ɦ >AHRS rotation from veh to nav: [[-0.130464,0.983034,0.128930],[-0.991453,-0.129248,-0.017791],[-0.000825,-0.130149,0.991494]]6H@ u?`Ā?57 KඨQ?i6K@I6X+^;4YFQ|ByF,IiMb@Mb@Mb@ 9jt?9IYI=McFyMDMEM>QQ 5]4Us?Q 9e4UG)U9LBYe ?Q Ee:yeۿQ Ie?UZCIU ;iU:U(4yiɮu:7AqB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 175.12 m.Rh]=:Zh]=: ProNav: ac range: 175.124359 m, nav range: 140.328491 m, bearing: 278.932256 deg, approach rate: -0.619734 m/s, LOS rate: 0.078352 deg/s, cmd heading: 264.900718 deg, new cmd heading: 264.996853 deg. BhW;HeadingCmd: 4.625068 target range: 175.124359 and range: 175.90 m.h@h*h"h hgfff{BdddjdZd-@%`}Bɢ%6 )) -ti))-tyIIiwAi3=ԿՇ<%I@IIBU>BU&CBU9IBUh|BBU =BQBQBU~;BUB5EB%CB%CBēCB =B =CR5Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266458a@a @i@m3@iqE EoE+E"E1;*E );VE [4ZEBE3# ,7,?A2@2Z@2pQ|:ٱ2 :AHRS rotation from veh to nav: [[-0.130430,0.982773,0.130936],[-0.991457,-0.129160,-0.018188],[-0.000963,-0.132190,0.991224]]2H@r? ?@N-O@@?i2@I2 ^;2CYBR|By@IF=)F=bDJVDJ:iPIPVchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518589yZD:%ZT=ٔ^G9Q-^>91Y1=5cFy5 D=j8E=>AQ 5M4Ep?Q 9M4E)E:LBYIyUۿQ IU?E{CIE:iE[:E/4yYɮ]87AYyjhFNOT Ignoring new targets: 175.12 m.Rh:Zh: ProNav: ac range: 175.124359 m, nav range: 140.087570 m, bearing: 278.962766 deg, approach rate: -0.602948 m/s, LOS rate: 0.076489 deg/s, cmd heading: 264.996860 deg, new cmd heading: 265.088548 deg. BhQ;HeadingCmd: 4.626668 target range: 175.124359 and range: 175.90 m.h @h*h"h hgfffdddjdZd@pV.@E_}BɢEp1 )I MiI)l|顩i?iԿb><wϡI @Iԩa@a @a@e/@aUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770116^A 7ƙ I I O >D zD AAE y E E )E "E ;*E 3;VE FA4ZE a @a @a @a @f& ,휜,?AY~W|By~/I AA bD VD:2y%':<%%C=ٔ%Q-->9)Y)=-cFy-D5E5>iQ 5u4mzm?Q 9}4mm)mBM >BI BI BI BM =BI BI BM ~;BM 5Ee BDAT read: Rx Time:04:10:25.3239 m TRx dataTimestamp_ set to:1761538226.820074m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275161q , ,x,?AY]f|By]8IiMb@Mb@Mb@ 9V-?Q~jt?Y|?yuD< AE@ )AY1bD5VD5yEn =%E9=ٔIQ-M>9IYI=UcFyUDQE]>YQ 5e4]i?Q 9e4])]BLBYm?Q Em:ymܿQ Im?]CI]:i]:]T>4E}j E}qEyEy"E};*E}*;VEyZEyBE} Թ 3 ,P,?A2ױ@2@2,8;ٱ26 :AHRS rotation from veh to nav: [[-0.128461,0.982826,0.132482],[-0.991712,-0.127005,-0.019421],[-0.002262,-0.133878,0.990995]]2HkqNs? (?`A`㓿b";?i2ױ@I2[k];0YBx|ByBCI DDbDJVDJ:yRD=%Ri=ٔVr;Q-V>9TYX=ZcFyZ$DZ;EZ>\Q 5b4^6g?Q 9b4^B)^FLBYdyfFܿQ If?^CI^:i^R:^tD4yhɮj6Aljh|FNOT Ignoring new targets: 175.12 m.Rh:Zh: ProNav: ac range: 175.124359 m, nav range: 139.375854 m, bearing: 279.055003 deg, approach rate: -0.601082 m/s, LOS rate: 0.078637 deg/s, cmd heading: 265.284083 deg, new cmd heading: 265.365745 deg. BhW;HeadingCmd: 4.631506 target range: 175.124359 and range: 175.90 m.h%L5@h!*h!"h! h!g!f!f)f)d)d)d1jd1Zd5`W[0@eZ}Bɢe~)a ebia)miiim s:iu;jӿuvi-¿X9Z@s>v@ G\>)ܸ>IG\(DT=*?j6? %? 9>)xsIܸ>iG\ԑT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Iy 9@  @ @ 0@ E EvE*E"E1;*E,;VE(N4ZEa@a@a@a@^A I  (DAT read: user:71>  BDAT read: Tx time:04:10:26.6311  $Ping request sent. ) - :publishing transmit ping time U checking for new query: numPingsReceived=0, elapsed TxPingTime=0.008287 gG I OM >U R9Q YU oA 2: ,'1,?AB@B@BO);ٱB7 JAHRS rotation from veh to nav: [[-0.127481,0.983021,0.131980],[-0.991838,-0.126000,-0.019545],[-0.002583,-0.133394,0.991060]]BHJQt?`?@"  )e¶?iB@IB7];@Yr}|ByrFIaE@aE i=Mb@Mb@Mb@9999 99=Q?QQ?Y=?y==u<=A9 =A)99I= Up9qYq=ucFyu.D}" ;E}>Q 54@bM sj`@UTA@YJA@RM?l)U?N=?ZiMܸ>biMG\jMB]tJ7@|3`8E>@ZM-?5l*@*?2iM|:iMSA"iM ?*iMQ|BiMȺBiM ?iIiMȺBiMU CiM+@ addTargetRange:: Added new target pos. range: 141.399994 m, deltaT: 20.168236 s, deltaX: -34.500000 m, approachRate: -1.710611 m/s, rangeRepo size: 4  Added new target pos. range: 140.768127 m, bearing: 279.754018 deg, lat: 36.779505 deg, lon: -121.859553 deg, deltaT: 20.168236 s, deltaX: -34.356232 m, approachRate: -1.703482 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 140.77 m.Rh%Zh!E ProNav: ac range: 140.768127 m, nav range: 139.332901 m, bearing: 279.623182 deg, approach rate: 0.000000 m/s, LOS rate: 0.078637 deg/s, cmd heading: 265.365745 deg, new cmd heading: 265.475776 deg. BhAMHeadingCmd: 4.633426 target range: 140.768127 and range: 141.40 m.hME@hI*hI"hI hQgQfQfQfQdYdYdYjd]̬a@Zde`?颍X}BɢO) G[i)򪄼顑i5l8iN+ӿԳ<TIE@IA@AA@ABBB?IBr|BBBBBP~;B4E-9@) @)@-0@)Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251625E ErE(E"Ex;*E*;VEc44ZEBEAU >I I O >@ ,-?A2 ʋ@2Ē@2_7;ٱ2e >AHRS rotation from veh to nav: [[-0.125530,0.983090,0.133327],[-0.992086,-0.124011,-0.019669],[-0.002802,-0.134741,0.990877]]2HZ@yu?`?++ $f3?`C?i2 ʋ@I2;];2CYBq|ByF?IRchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.501808bDRVDRܲyZ/ %Zk=ٔ^$:Q-^?9\Y`=bcFyb5Db ;Eb?dQ 5j4fF`?Q 9j4f)fULBYlyn:߿Q In?fCIf;if;fR4ypɮr6At%B*** querying acoustic contact ***i! i!jh9MFNOT Ignoring new targets: 140.77 m.RhU:ZhU:u ProNav: ac range: 140.768127 m, nav range: 139.140640 m, bearing: 279.651288 deg, approach rate: -0.548506 m/s, LOS rate: 0.080294 deg/s, cmd heading: 265.475765 deg, new cmd heading: 265.560199 deg. Bhuk\;HeadingCmd: 4.634900 target range: 140.768127 and range: 141.40 m.hQ@h*h"h hgfffd1d1d1jd9Zd=@?颅V}Bɢ) Dei)顉i6i ҿ<#4IQ@IQ9@ @@4@yUchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.753838^Aԡ A% .AI) I9 OM >E _ E E .E "E ;*E E7;VE ـ4ZE a @a @a @a @ G ,-?A@NS@Nܒ@N;4;ٱN ZAHRS rotation from veh to nav: [[-0.122711,0.983502,0.132913],[-0.992439,-0.121234,-0.019180],[-0.002750,-0.134262,0.990942]]NHi@x?`K?* 򣓿pf@|/`̵?iNS@IN];NCY^|BybRIIfC=)f=bDjVDj:yr=%rG=ٔvKQ-v>9v ?Yv ?=vcFyv=Dz`;Ez>|Q 54~\?Q 94~)~\LBY y ޿Q I ?~6CI~:i~:~Y4y1BɮN/A)Ejh9EFNOT Ignoring new targets: 140.77 m.RhEߺ:ZhEߺ:U ProNav: ac range: 140.768127 m, nav range: 138.914398 m, bearing: 279.684173 deg, approach rate: -0.561073 m/s, LOS rate: 0.081688 deg/s, cmd heading: 265.560186 deg, new cmd heading: 265.659004 deg. BhU?`;]HeadingCmd: 4.636624 target range: 140.768127 and range: 141.40 m.h]:_@hY*ha"ha hagafafifidididijdqZdu ?额T}Bɢ) Di)D4顡i>5iҿ<:I:_@Iy@y @y@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011992^Au A ؟AI I O >B B B LIB |BB B B B ~;B 4EA  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261792JM ,7-?AYb|BybQIaUaU iUMb@Mb@Mb@QQQQ Q9U9"?Y"?=cFyFDE>Q 54HY?Q 94)eLBY?Q E:yW߿Q I?UCI ;i*:-a4yɮS/AjhFNOT Ignoring new targets: 140.77 m.Rh:Zh: ProNav: ac range: 140.768127 m, nav range: 138.684326 m, bearing: 279.718129 deg, approach rate: -0.543122 m/s, LOS rate: 0.080291 deg/s, cmd heading: 265.659006 deg, new cmd heading: 265.761042 deg. Bhi\;HeadingCmd: 4.638405 target range: 140.768127 and range: 141.40 m.hm@h*h"h hgfff|Bd d d jd Zd `E?E]o E]SE](EY"E]7;*E]N;VE]c44ZEYBE]h2T ,cQ-?A:@:J@::ٱ:V FAHRS rotation from veh to nav: [[-0.115901,0.984623,0.130710],[-0.993259,-0.114681,-0.016849],[-0.001600,-0.131782,0.991278]]:H`? ? [ @@6Z8?i:@I:h!];:CYJ|ByNTIbDVVDVy^M<%^X=ٔ^FQ-b>9`Y`=bcFybNDfB<Ef>hQ 5n4j6V?Q 9n4j!)jlLBYlyry޿Q Ir?jqCIja;ij;jg4ytɮv=/AtjhFNOT Ignoring new targets: 140.77 m.Rh:Zh:- ProNav: ac range: 140.768127 m, nav range: 138.478027 m, bearing: 279.748028 deg, approach rate: -0.544353 m/s, LOS rate: 0.079010 deg/s, cmd heading: 265.761049 deg, new cmd heading: 265.850878 deg. Bh-X;5HeadingCmd: 4.639973 target range: 140.768127 and range: 141.40 m.h5z@h1*h1"h1 h1g9f9fAfAdAdAdAjdIZdM?uO}Bɢu?y)y }  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.020651! \Z ,Gwk-?A68@6\3@6ŝ9ٱ6 FAHRS rotation from veh to nav: [[-0.112133,0.985384,0.128235],[-0.993693,-0.111157,-0.014771],[-0.000301,-0.129083,0.991634]]6Hô@D?j?Ut B@ 3ȅv?i68@I6AK];4Yr|ByrWI xxiMb@Mb@Mb@ 9K7?ktI +?Y ?y 094<A\@ xA)1AY3AbDVDyR<%:=ٔdBQ->9Y=cFyVD <E>Q 54xR?Q 94')tLBY2 ?Q E:y;Q I?CI:i:wo4yɮ&/Ajh!%FNOT Ignoring new targets: 140.77 m.Rh-:Zh-: ProNav: ac range: 140.768127 m, nav range: 138.256393 m, bearing: 279.782495 deg, approach rate: -0.504817 m/s, LOS rate: 0.078632 deg/s, cmd heading: 265.850879 deg, new cmd heading: 265.954447 deg. BhW;HeadingCmd: 4.641781 target range: 140.768127 and range: 141.40 m.hx@h*h"h hgfff2|BdddjdZd`4@%L}Bɢ%)! %3i))-_))iM8/iUҿUIBBXIB|BB =BBB ~;B4E 9@  @@@Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.2699671bEȷG4jE(N4rEȼ 0E}^ E}E},Ey"E};*E}9;VE}g4ZEyBE}sDa ,P-?AFX@FS@FQٱFVchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.522568 ^AHRS rotation from veh to nav: [[-0.108218,0.986145,0.125721],[-0.994126,-0.107497,-0.012526],[0.001162,-0.126339,0.991987]]FH4?`?`򄻿`P : S?@+Z?iFX@IF2];FCYj|ByjYI xz<bDVDܲy;;%M=ٔpQ->9Y=cFy_D"<E>Q 54%O?Q 94p-){LBYyQ I?CI@;i;iv4y5BɮUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.773784ԉE p E hE *E "E ;*E ^%;VE (N4ZE a @a @a @a @Թ ng ,^,-?A2Zz@2!u@2UI-ٱ2( :AHRS rotation from veh to nav: [[-0.104151,0.986748,0.124424],[-0.994558,-0.103665,-0.010392],[0.002644,-0.124829,0.992175]]2H@p?@:ڿ? k ҉`hH)e?@?i2Zz@I2'];2CYv|ByvdIbDVD:y ;=%S=ٔS{Q->9Y=cFyfDF-<E%>!Q 5-4%K?Q 954%2)%LBY1y59Q I5?%CI%:i%:%+}4y=*BɮE.AE2EjhamFNOT Ignoring new targets: 140.77 m.Rhmz:Zhuz: ProNav: ac range: 140.768127 m, nav range: 137.859558 m, bearing: 279.843405 deg, approach rate: -0.507131 m/s, LOS rate: 0.077582 deg/s, cmd heading: 266.047561 deg, new cmd heading: 266.137437 deg. BhT;HeadingCmd: 4.644975 target range: 140.768127 and range: 141.40 m.h@h*h"h hgfffdddjdZd` @F}Bɢ) i)di*O-iѿ踀<,C]I@IԙBDAT read: Rx Time:04:10:29.2209 @ @@4@TRx dataTimestamp_ set to:1761538230.613445checking for new query: numPingsReceived=0, elapsed TxPingTime=3.072260^AB >B B eIB |BB B B B T~;B 4EBU&CBU&CBQBU =BU =CUɱ14AU .AIY Ii O} >e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277849 ۘm ,-?A2@2l@2!ٱ2. :AHRS rotation from veh to nav: [[-0.099987,0.987405,0.122614],[-0.994980,-0.099729,-0.008255],[0.004077,-0.122824,0.992420]]2H Ҙ?c?@ Ӈ瀿 ap? jq?i2@I2?];0Y\y\Ib>)bp;iMb@Mb@Mb@ 9Q? ףp= Mbp?Y?yQ8;r@ A)YAbDVD:y%A=ٔ]Q->9 ?Y ?=cFyoD!<E>Q 54H?Q 948)LBYr ?Q E:ymQ I?CI:i:4yɮ.AjhFNOT Ignoring new targets: 140.77 m.Rh :Zh : ProNav: ac range: 140.768127 m, nav range: 137.646317 m, bearing: 279.876244 deg, approach rate: -0.503054 m/s, LOS rate: 0.077590 deg/s, cmd heading: 266.137447 deg, new cmd heading: 266.236117 deg. BhT;%HeadingCmd: 4.646697 target range: 140.768127 and range: 141.40 m.h%@h!*h!"h! h)EU| EUgEU+EQ"EU;*EU$;VEU [4ZEQBEU%I@I!@ @@0@DAT read: 04:10:29.2209 LVL= 27872, 32753, 32754, 32755, AGC= 66, IDX= 410, 0.33, 1.224,-0.640, 0.932, 0.869, PHS= 0.458,-1.464, 0.020, RAW= 137.4, 11.3, CAL= 136.9, 12.3, ROT= 13.1, -12.3 -Ygot valid direction response: 04:10:29.2209 LVL= 27872, 32753, 32754, 32755, AGC= 66, IDX= 410, 0.33, 1.224,-0.640, 0.932, 0.869, PHS= 0.458,-1.464, 0.020, RAW= 137.4, 11.3, CAL= 136.9, 12.3, ROT= 13.1, -12.3 5PDAT read: Bearing 69.8, 11.1 (Local) =~Local bearing/azimuth received: Bearing 69.8, 11.1 (Local) MDAT read: Range 11 to 50 : 139.2 m (Round-trip 185.7 ms) speed 0.4 m/s UR#Rx 1: Read range and direction messages.}\direction in FSK: [0.951619,0.221449,0.213030]}Fpublishing direction and range infoy}s?PnX?AzUmD?Y3 Cl )BI~>iZd ף<.z@I>4@ [>) j>I[y?N?RB? ߛ>)II j>i[T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.I ^A NJNq A I I O >.t ,-?A2O@2@2Wٱ2d :AHRS rotation from veh to nav: [[-0.096140,0.987718,0.123169],[-0.995353,-0.096072,-0.006501],[0.005412,-0.123222,0.992364]]2H@b??-Рz`*v?@zr?i2O@I2 -];2CYB|ByB^IHJAAbDNVDNNyVZļ%VN=ٔV\Q-V>9XYX=ZdFyZwD^<E^>`Q 5f4bPE?Q 9f4b:>)bLBYdyf߿Q If?bCIbB:ib:b4ylɮn.Ali9i=kH-?AJi= CRi= Cji=ћ@b=D{`@;)>@ =@R=}s?PnX?AzUmD?Zi= j>bi=[j=~(D5@Y!`Xu::@Z=j6?+ ~j9?2i=f:i=&A"i=E?*i=iV Bi=ƲBi9i=iV i9i=wCi=^@- addTargetRange:: Added new target pos. range: 139.199997 m, deltaT: 3.790209 s, deltaX: -2.199997 m, approachRate: -0.580442 m/s, rangeRepo size: 4 }(DAT read: user:72> BDAT read: Tx time:04:10:30.4311 $Ping request sent.  { ,I-?AY%|By%aIByByB}qIB}|BByByByB}8~;B}4EiMb@Mb@Mb@ 9ˡE? ףp= ~jth?Y?yD;@ A)AYAbDVDܲy/<%-=ٔQ->9Y=dFyDE>Q 54A?Q 94D)LBYl?Q E:y Q I?CI:i:4yɮ.AjhFNOT Ignoring new targets: 138.58 m.Rh%:Zh%:5 ProNav: ac range: 138.578964 m, nav range: 136.230377 m, bearing: 280.015218 deg, approach rate: -0.503201 m/s, LOS rate: 0.078279 deg/s, cmd heading: 266.329266 deg, new cmd heading: 266.439122 deg. Bh5V;=HeadingCmd: 4.650240 target range: 138.578964 and range: 139.20 m.h=Δ@h9*hA"hA hAgAfAfIfMj|BdIdIdQjdQZdUP?5;}Bɢ=Bݼ)9 =i9)=$9AiE$u)checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502105i\ѿ~<AlDIΔ@I=9@9 @9@E4@AE` EdE-E"Ei;*EB#;VEt4ZEBE43 ,y< .?A2 @2@2ٱ2* :AHRS rotation from veh to nav: [[-0.089243,0.988141,0.124950],[-0.995986,-0.089404,-0.004327],[0.006895,-0.124834,0.992154]]2H`ضڞ?@? 4㶿q@=|?&฿?i2 @I28];2CYB|ByBfI DDbDVDyUE<%UZ=ٔ]Q-]>9YYY=edFyeDe><Ee>iQ 5u4m>?Q 9u4mI)mLBYyy}&߿Q I}?m7CIm ;im7;mH4yɮ.AB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 138.58 m.Rh:Zh: ProNav: ac range: 138.578964 m, nav range: 136.042603 m, bearing: 280.043850 deg, approach rate: -0.500977 m/s, LOS rate: 0.076496 deg/s, cmd heading: 266.439123 deg, new cmd heading: 266.525139 deg. BhQ;HeadingCmd: 4.651741 target range: 138.578964 and range: 139.20 m.h۔@h*h"h hgfffdddjdZdy?7}Bɢ) 8i)搼i(i%+п%}<%GݻI%۔@I@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006050^A0:D! D! zD% @AE-  E- xE) E) "E- x;*E- -;VE) ZE) a= @a= @a= @a= @A ؟AI I O >pX ,#.?AY~|By~LI < 4<bD VDf2XG(hAy&ǽ %D=ٔ=Q-E>9]"?Ye"?=edFyeDchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.262367AQuEu>9(hAYAQ 54;?Q 9 4nP)LBYyQ I?XCI͏BBkIB|BBBBB~;B4E@ @@/@ԩ M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514028^Au `Ի E= q E= fE= *E9 "E= ;*E= P$;VE= (N4ZE9 BE= ύ ,RB.?A:1@:,@:ٱ: FAHRS rotation from veh to nav: [[-0.081847,0.988550,0.126764],[-0.996620,-0.082087,-0.003341],[0.007103,-0.126609,0.991927]]:H@`4?9?N ^k}? 4@޽?i:1@I:pL];:CYN|ByNcIbDVVDVk1y^S=%b3=ٔbQ-b>9dYd=fdFyfDfܖ<Ej>lQ 5n4n 8?Q 9r4nU)nLBYpyr2޿Q Ir?nsCIn:inR:n4ytɮzN.AqjhFNOT Ignoring new targets: 138.58 m.Rh:Zh:M ProNav: ac range: 138.578964 m, nav range: 135.604843 m, bearing: 280.110215 deg, approach rate: -0.513762 m/s, LOS rate: 0.077156 deg/s, cmd heading: 266.634083 deg, new cmd heading: 266.724539 deg. BhMS;]HeadingCmd: 4.655221 target range: 138.578964 and range: 139.20 m.h]@hY*hY"hY hYgafafifidqdqdyjdyZd``@ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766211颍.}BɢR:޼) i)5顑i%iaпw$|<(ksI@IAY@Y @Y@]/@Yi^A} +ԡ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019240A I I O >g ,\.?A6C@6=@6wٱ6s{ BAHRS rotation from veh to nav: [[-0.079749,0.988410,0.129172],[-0.996789,-0.080006,-0.003204],[0.007167,-0.129013,0.991617]]6Hhj`??@D{@I@j`^[}?S?i6C@I6J}];6CYJ|ByJYIIN4>)N>bDVVDV{Uy^"%^K=ٔb'Q-b>9`Y`=bdFyfDf{;Ef>hQ 5n4j5?Q 9n4j[)jLBYpyrݿQ Ir?jCIj;ij;j4ytɮv.AtjhFNOT Ignoring new targets: 138.58 m.Rh:Zh:- ProNav: ac range: 138.578964 m, nav range: 135.402863 m, bearing: 280.140395 deg, approach rate: -0.530655 m/s, LOS rate: 0.079410 deg/s, cmd heading: 266.724542 deg, new cmd heading: 266.815219 deg. Bh-Y;5HeadingCmd: 4.656804 target range: 138.578964 and range: 139.20 m.h5@h1*h9"h9 h9g9f9fAfAdAdAdIjdIZdM*@yE~ EmE)E"E;*E(;VEFA4ZEa@a@a@a@*}Bɢu|-)q uiy)}$ yyi}$iD-пA{<iI@Ii@i @i@m/@iԩ^Ae񖻝=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.272294AII)O=> BY AY Be >Ba Ba Ba Ba Ba Ba Be $~;Be 4EXݜ ,Iu.?A:P@:K@:mZٱ:L ^AHRS rotation from veh to nav: [[-0.078081,0.988237,0.131497],[-0.996920,-0.078359,-0.003066],[0.007274,-0.131331,0.991312]]:H@??`Qi`<}?`tӸ?i:P@I:];:CYf|ByfTIchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.522109iMb@Mb@Mb@ 9Zd;O?l~jtxY~ ?yĻ(A A)1AY@AbDVDβy b%7=ٔzQ->9Y=dFyDl;E>Q 542?Q 94b)LBY ?Q E:yۿQ I?CI;i;4yɮ.Ajh!-FNOT Ignoring new targets: 138.58 m.RhM:ZhU:] ProNav: ac range: 138.578964 m, nav range: 135.164566 m, bearing: 280.174352 deg, approach rate: -0.505016 m/s, LOS rate: 0.072092 deg/s, cmd heading: 266.815220 deg, new cmd heading: 266.917272 deg. BheE;eHeadingCmd: 4.658585 target range: 138.578964 and range: 139.20 m.he!@hi*hi"hi higfffV|BdddjdZd@En EvE*E"EÏ;*E,;VE(N4ZEBE- ,.?AN^@NX@NxٱNk VAHRS rotation from veh to nav: [[-0.076463,0.988296,0.132000],[-0.997048,-0.076706,-0.003252],[0.006911,-0.131859,0.991244]]NH`? b? `j@O|? F?iN^@IN];NCY^|By^MIbDjVDjkyn%rU=ٔrow:Q-r>9tYt=vdFyvDzv;Ez>|Q 5~4~/?Q 94~@g)~LBYyۿQ I?~CI~;i~;~4y#Bɮ.A-B*** querying acoustic contact ***i1 i1jh9=FNOT Ignoring new targets: 138.58 m.RhE%:ZhE%:U ProNav: ac range: 138.578964 m, nav range: 134.975342 m, bearing: 280.201264 deg, approach rate: -0.525311 m/s, LOS rate: 0.074813 deg/s, cmd heading: 266.917263 deg, new cmd heading: 266.998110 deg. BhU`M;]HeadingCmd: 4.659996 target range: 138.578964 and range: 139.20 m.h]@hY*hY"ha hagafafifidididqjdqZdu @额!}Bԡɢ>) i)顩i"iϿRIz<VI@Iy@y @y@}1@y8>=BDAT read: Rx Time:04:10:33.0183  TRx dataTimestamp_ set to:1761538234.397492checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028833Ei EE)E"E~;*E|;;VEFA4ZEa@a@a@a@^AA1 IA IY Ou >)  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2805030 ,.?Ayj@@e@ջٱw! AHRS rotation from veh to nav: [[-0.074957,0.988452,0.131695],[-0.997165,-0.075162,-0.003420],[0.006518,-0.131578,0.991284]]H`i0`f? b?`=@lRz?`?iyj@I];CY|ByHI ieMb@Mb@Mb@aaaa a9eʡE?V-MbpYe?yeeeAe\@ eA)eAaYe\AbD}VD}y%3=ٔa:Q->9Y=dFyDzX;E>Q 5-4,?Q 954m)LBY5?Q E5:y5VٿQ I5?CIa;HeadingCmd: 4.661717 target range: 138.578964 and range: 139.20 m.h,@h*h"h hgfff#|BdddjdZdi @-}Bɢ-)) -i1)5+11i5^!i=EϿ==y<=拻I=,@IABBB_IB|BB =BBBq~;B5EI@ @ @ 0@ EDAT read: 04:10:33.0183 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 415, 0.01,-2.474, 1.950,-2.714,-2.759, PHS= 0.388,-1.529, 0.002, RAW= 139.0, 12.9, CAL= 138.3, 14.0, ROT= 11.7, -14.0 MYgot valid direction response: 04:10:33.0183 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 415, 0.01,-2.474, 1.950,-2.714,-2.759, PHS= 0.388,-1.529, 0.002, RAW= 139.0, 12.9, CAL= 138.3, 14.0, ROT= 11.7, -14.0 UPDAT read: Bearing 73.2, 9.6 (Local) U~Local bearing/azimuth received: Bearing 73.2, 9.6 (Local) eDAT read: Range 11 to 50 : 137.3 m (Round-trip 183.1 ms) speed 0.7 m/s eR#Rx 1: Read range and direction messages.m\direction in FSK: [0.950136,0.196764,0.241922]uFpublishing direction and range infoyhg?Ibq /?79K?YL C )EI>iFÿo;C@f>{@ 5z>)Q>I5zqX|?"V?D? >)-fIQ>i5zT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ibE(N4jER4rEa0E-  E- E- 'E) "E- ;*E- 4;VE- '4ZE) BE- =aE 2E- =aE JE- OAI ԙ A I I O >J ,h.?Afy@fut@fl3ٱf vAHRS rotation from veh to nav: [[-0.073107,0.988927,0.129150],[-0.997308,-0.073236,-0.003757],[0.005743,-0.129077,0.991618]]fH@`I?? new?U?ify@If];dY |By MI %4<%<bD-VD-:y=<%=[=ٔ=;Q-E>9AYA=EdFyEDM';EM>QQ 5]4U*?Q 9]4Uls)ULBYYyeٿQ Ie?UCIUp:iU:U͛4ymBɮm.AmDEiiq.?AJiCRiCji@ba2;`@ ":@.@@Rhg?Ibq /?79K?ZiQ>bi5zjOЛ_5@zws`(g>@Z5SX?; BkNo'?2i:iA"i@3?*i)?BieBii)?ieBiCiH@ addTargetRange:: Added new target pos. range: 137.300003 m, deltaT: 3.785646 s, deltaX: -1.899994 m, approachRate: -0.501894 m/s, rangeRepo size: 4 (DAT read: user:73> BDAT read: Tx time:04:10:34.2311 $Ping request sent.ԑ 2w ,"P.?A2@2J@2@*ٱ2UE: E:E:+E8"E:;*E:4;VE: [4ZE8aB@aB@aB@aB@ FAHRS rotation from veh to nav: [[-0.071423,0.989081,0.128906],[-0.997433,-0.071484,-0.004159],[0.005101,-0.128873,0.991648]]2HH??LqBt?~?i2@I2];0YN|ByNLIbDZVDZ0y^뵻%bR=ٔb\:Q-b>9dYd=fdFyfDj*;Ej>lQ 5n4nY(?Q 9r4n y)nLBYpyrؿQ Ir?n CIn:in:nfԛ4yxɮz.AxjhFNOT Ignoring new targets: 136.69 m.Rh%:Zh%:5 ProNav: ac range: 136.687149 m, nav range: 133.570526 m, bearing: 280.347080 deg, approach rate: -0.541886 m/s, LOS rate: 0.072968 deg/s, cmd heading: 267.171920 deg, new cmd heading: 267.256139 deg. Bh5NH;=HeadingCmd: 4.664500 target range: 136.687149 and range: 137.30 m.h=C@h9*h9"h9 h9gAfAfAfAdIdIdIjdIZdU B >B B XIB |BB =B B B ~;B 5EBBBB =B =C4 p ,5 .?A2a@2(@2ٱ2 :AHRS rotation from veh to nav: [[-0.069613,0.989136,0.129475],[-0.997565,-0.069566,-0.004890],[0.004171,-0.129500,0.991571]]2H@%ұ??  ϱ t?q?u@?i2a@I2W];2CB>B>@Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.755307YJh|ByJ9IIN=)N=iMb@Mb@Mb@ 9gfffff?/$Mb`?Y3?y;VA A)YAbD5VD5yE%EC=ٔE;Q-M>9IYI=MdFyMDU;EU>Q 54!&?Q 94)LBYL?Q E:yֿQ I?@CI:i :ۛ4yɮ"/AjhY]FNOT Ignoring new targets: 136.69 m.Rhe:Zhe: ProNav: ac range: 136.687149 m, nav range: 133.330551 m, bearing: 280.377407 deg, approach rate: -0.541672 m/s, LOS rate: 0.068578 deg/s, cmd heading: 267.256150 deg, new cmd heading: 267.347295 deg. BhA<;HeadingCmd: 4.666090 target range: 136.687149 and range: 137.30 m.hP@h*h"h hgfff+|BdddjdZd`Q ,/?AYq|By?I!%AAbD-VD-y=X<%=J=ٔEQ-E>9AYA=MdFyMDMEM>QQ 5]4U'$?Q 9]4U)ULBYayaQ Ie?U\CIU:iU:U4yiɮm.AiB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 136.69 m.Rh:Zh: ProNav: ac range: 136.687149 m, nav range: 133.116776 m, bearing: 280.404518 deg, approach rate: -0.563040 m/s, LOS rate: 0.071517 deg/s, cmd heading: 267.347292 deg, new cmd heading: 267.428753 deg. BhSD;HeadingCmd: 4.667512 target range: 136.687149 and range: 137.30 m.hC\@h*h"h hgff!f!d!d!d!)jd)Zd5-?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258995}Bɢ,) i)ri8Ciaοv<KIC\@I@ @@@@@cAYDzDE EE'E"EF;*EG;VE'4ZEa@a@a@a@^A ԑ M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512274A I9 I Թ OM >, ,./?AJ@Jf@JHٱJQ RAHRS rotation from veh to nav: [[-0.066295,0.988951,0.132596],[-0.997797,-0.066025,-0.006441],[0.002385,-0.132731,0.991149]]JH@{??`簿az@c?Q~?iJ@IJA];HYZ|ByZOIiuMb@Mb@Mb@qqqq q9ubX9?QYuE?yuuuuAq uA)uAqYqbDVDN2yZp=%6=ٔM;Q->9Y=dFyD;E>Q 54"?Q 94i)LBYR?Q E:yԿQ I?~CI:i:4yɮ.AjhFNOT Ignoring new targets: 136.69 m.RhƜ:ZhƜ: ProNav: ac range: 136.687149 m, nav range: 132.862717 m, bearing: 280.435226 deg, approach rate: -0.565898 m/s, LOS rate: 0.068532 deg/s, cmd heading: 267.428762 deg, new cmd heading: 267.521063 deg. Bh!<;HeadingCmd: 4.669123 target range: 136.687149 and range: 137.30 m.hui@h*h"h hgf!f!f%N|Bd!d)d)jd1Zd5x?]}Bɢ]"Sݼ)a eia)e6›aaimKiuοudv  ,]H/?A6y@6@@6,ٱ6G BAHRS rotation from veh to nav: [[-0.064730,0.989238,0.131217],[-0.997902,-0.064345,-0.007178],[0.001342,-0.131406,0.991328]]6H'֧?`?x`f} U??i6y@I6!];6CYF|ByJJI LLbDRVDRJ2yZg%Z[=ٔ^E7;Q-^>9\Y\=bdFybDb;Eb>dQ 5j4fu ?Q 9j4f$)fLBYlynԿQ In?fCIf;if;f"4yr Bɮr[.ArMEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.015055jhFNOT Ignoring new targets: 136.69 m.Rh%:Zh%:5 ProNav: ac range: 136.687149 m, nav range: 132.651886 m, bearing: 280.460647 deg, approach rate: -0.563521 m/s, LOS rate: 0.068053 deg/s, cmd heading: 267.521052 deg, new cmd heading: 267.597434 deg. Bh5:;=HeadingCmd: 4.670456 target range: 136.687149 and range: 137.30 m.h=at@h9*h9"h9 h9gAfAfAfAdIdIdIjdIZdM p9@}|Bɢ})y }ti)x顁iimοgu<1TIat@II@Q @Q@U0@Q^Au_checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268083I A I I O >D =D R=E  E E ,E "E ;*E 86;VE g4ZE a @a @a @a @9 ,kb/?A 65Ǎ@6@6m>3ٱ63 >AHRS rotation from veh to nav: [[-0.063666,0.989407,0.130459],[-0.997971,-0.063209,-0.007643],[0.000684,-0.130681,0.991424]]6HeL9??a v.NgF?)@?i65Ǎ@I6%*];6CYF{|ByFEI Np;NbDRVDR0yVɦ%ZK=ٔZ:Q-Z>9\Y\=^dFy^DbL-;Eb>dQ 5f4f?Q 9j4fY)fLBYhyjuԿQ Ij?fCIf`:if6:f.4y9ɮ=|.AA jh-ɀGMhAit9hAYGAFNOT Ignoring new targets: 136.69 m.Rh:Zh: ProNav: ac range: 136.687149 m, nav range: 132.423721 m, bearing: 280.488140 deg, approach rate: -0.543426 m/s, LOS rate: 0.065595 deg/s, cmd heading: 267.597441 deg, new cmd heading: 267.680064 deg. Bh4;HeadingCmd: 4.671898 target range: 136.687149 and range: 137.30 m.h1@h*h"h hgfffdd djdZd@]|Bɢ]ۼ)a eHia)e^aaimii>οMu<;nI1@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519158@ @@%0@)@M=@M=ԙBM <AM <B] >BY BY BY B] =BY BY B] v~;B] 5E^A yb]  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770896A I I O >c ,Z|/?ABэ@B˔@BEPٱB JAHRS rotation from veh to nav: [[-0.062470,0.989501,0.130325],[-0.998047,-0.061942,-0.008108],[0.000050,-0.130577,0.991438]]BH?}?ٶ` ?ܹ?iBэ@IBg ];BCPYz|ByzRIiMb@Mb@Mb@ 9 +?MbMb`?Y?y;(Ar@ A)AYbDVDy%?@=%%5=ٔ%8:Q-%>9)Y)=-dFy-D-.;E5>9Q 5E4=?Q 9E4=P)=LBYE?Q EE:yEsԿQ IM?=CI=*:i=:=4yQɮU&.AQE} E}E}+Ey"E}^;*E}@;VE} [4ZEyBE}W=a2E}W=aJE}ƢK ,6/?A2ݍ@2ؔ@2SvG:ٱ2= :AHRS rotation from veh to nav: [[-0.060923,0.989584,0.130428],[-0.998142,-0.060301,-0.008717],[-0.000761,-0.130717,0.991419]]2H >1?`߱?߮ف@H`U@?i2ݍ@I2];2CYN|ByNMIIR>)R<bDZVDZJyb9%bd=ٔb;Q-b>9dYd=fdFyfDjt;Ej>lQ 5r4n#?Q 9r4nڤ)nLBYpyrAԿQ Iv?nCInH;ine;nV4yxɮzG.Ax|B*** querying acoustic contact ***i ijh!%FNOT Ignoring new targets: 136.69 m.Rh-H:Zh-H: ProNav: ac range: 136.687149 m, nav range: 131.963943 m, bearing: 280.543684 deg, approach rate: -0.572614 m/s, LOS rate: 0.069190 deg/s, cmd heading: 267.773140 deg, new cmd heading: 267.846972 deg. Bh=;HeadingCmd: 4.674811 target range: 136.687149 and range: 137.30 m.h@h*h"h hgff f d d djdZd5' @}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275137颍|BɢԼ) Xi)ȋimi4Ϳs<ؿvI@I)@ @@4@E EE*E"E;*Ea9;VE(N4ZEa@a@a@a@Y^A;m DAT read: 04:10:36.8154 LVL= 27904, 32753, 32754, 32755, AGC= 67, IDX= 417,-0.22, 1.037,-0.849, 0.838, 0.775, PHS= 0.365,-1.578, 0.019, RAW= 140.4, 13.2, CAL= 139.7, 14.3, ROT= 10.3, -14.3 } Ygot valid direction response: 04:10:36.8154 LVL= 27904, 32753, 32754, 32755, AGC= 67, IDX= 417,-0.22, 1.037,-0.849, 0.838, 0.775, PHS= 0.365,-1.578, 0.019, RAW= 140.4, 13.2, CAL= 139.7, 14.3, ROT= 10.3, -14.3  PDAT read: Bearing 73.9, 7.7 (Local)  ~Local bearing/azimuth received: Bearing 73.9, 7.7 (Local) ԡ  DAT read: Range 11 to 50 : 135.0 m (Round-trip 180.1 ms) speed 0.4 m/s  R#Rx 1: Read range and direction messages. \direction in FSK: [0.953400,0.173262,0.246999] Fpublishing direction and range infoy) - ۸@?:dt-?⩝?Y- C) - m) ) ) )- CI- H>i- ɿ- 㥛<- @- k>- @ - r>)- X8>I- r) ) - !d2?[J"?T5L?A I - A8>)- lI- X8>i- r) ) M T****** received valid address query ******M R****** received valid ping request ******Iy  Querying Benthos address 50 with one ping in standard two-way mode.Om > ,_/?A0Z@Z@ZNP:ٱZQp vAHRS rotation from veh to nav: [[-0.059947,0.989621,0.130602],[-0.998201,-0.059270,-0.009066],[-0.001231,-0.130911,0.991393]]ZH@Y@?`?BX` *T ~?iZ@IZ;\;ZCY~|By]QIBBBLIB|BB =BBBB~;B4EiMb@Mb@Mb@ 9bX9?~jt9Y=dFyD:E>!Q 5-4%?Q 9M4%Ǭ)%LBYU^?Q EU:yUԿQ IU?%CI%-;i%;%V4yYɮ]2.AaԉiAiEҊ/?AJiEeCRiEeCjiE@bEr !R`@P?biErjE:ȩײ3@n^32`1P=@ZEE?B|U,zPJ?2iE:iEA"iE9Δ?*iE6BiEBiEE?iAiEBiEACiE"@5 addTargetRange:: Added new target pos. range: 135.000000 m, deltaT: 3.780907 s, deltaX: -2.300003 m, approachRate: -0.608320 m/s, rangeRepo size: 4 E Added new target pos. range: 134.397964 m, bearing: 278.643491 deg, lat: 36.779483 deg, lon: -121.859533 deg, deltaT: 3.780907 s, deltaX: -2.289185 m, approachRate: -0.605459 m/s, posRepo size: 4 jhAm(DAT read: user:74> uBDAT read: Tx time:04:10:38.0811 u$Ping request sent.} ,1/?A2@2q@2]:ٱ2{ :AHRS rotation from veh to nav: [[-0.059468,0.989388,0.132567],[-0.998229,-0.058749,-0.009335],[-0.001447,-0.132888,0.991130]]2H`r?@?@~@L kWv@V?i2@I2v];2CYB|ByBIIbDNVDNyV %V[=ٔVX:Q-Z>9XYX=ZdFyZD^:E^>`Q 5f4b7?Q 9f4br)bLBYdyjԿQ Ij?b8CIb/;ibn;b4ynBɮn .AnWEjhFNOT Ignoring new targets: 134.40 m.Rh Ɵ:Zh Ɵ: ProNav: ac range: 134.397964 m, nav range: 131.047989 m, bearing: 279.583310 deg, approach rate: -0.608434 m/s, LOS rate: 0.069843 deg/s, cmd heading: 267.958703 deg, new cmd heading: 268.030740 deg. Bh?;%HeadingCmd: 4.678019 target range: 134.397964 and range: 135.00 m.h%U@h!*h)"h) h)g)f)f1f1d1d1d9jd9Zd=L?|Bɢ%psռ)%YF -䰽i))-))i-ri5vͿ5̂r<5I5U@I9ԡ9@ @@/@5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502812^A3 EE  EE EE ,EA "EE ;*EE E7;VEE g4ZEA aU @aU @aU @aU @A I I) O= >) ,/?A6@6i@6:ٱ6xH BAHRS rotation from veh to nav: [[-0.058619,0.989338,0.133324],[-0.998279,-0.057839,-0.009714],[-0.001899,-0.133664,0.991025]]6HE ?? @"䃿_ y?i6@I6];6CYJ|ByH LLbDRVDRyZ ;%ZK=ٔ^ג:Q-^>9`Y`=bdFyb Df ;Ef>hQ 5j4jr?Q 9n4j)jLBYlyniԿQ Ir?jVCIj;ij;j4ytɮv.AtjhFNOT Ignoring new targets: 134.40 m.Rh4:Zh4:- ProNav: ac range: 134.397964 m, nav range: 130.818665 m, bearing: 279.609592 deg, approach rate: -0.568103 m/s, LOS rate: 0.065222 deg/s, cmd heading: 268.030748 deg, new cmd heading: 268.109731 deg. Bh- 3;5HeadingCmd: 4.679398 target range: 134.397964 and range: 135.00 m.h5@h1*h1"h1 h1g9f9f9f9dAdAdAjdAZdMe?u|BɢulDμ)q uࡽiy)} 6yyi}iHͿq<sI@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.755090u9@y @y@}/@=PExceeded connect timeout, disconnecting.9AAAAB>BBRIB|BBBBB2~;B4E^AlU checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007612i A .AI I O9 bE˙T4jErE- 0E]  E] E] )EY "E] ;*E] |;;VE] FA4ZEY BE] ;=am 2E] ;=am JE] 99M ?Y ?=dFy)DE>Q 54?Q 94ڿ)LBY?Q E:yҿQ I?yCIe:i: %4yɮ-AjhFNOT Ignoring new targets: 134.40 m.RhY:ZhY:  ProNav: ac range: 134.397964 m, nav range: 130.552368 m, bearing: 279.638561 deg, approach rate: -0.566822 m/s, LOS rate: 0.061788 deg/s, cmd heading: 268.109732 deg, new cmd heading: 268.196818 deg. Bh );HeadingCmd: 4.680918 target range: 134.397964 and range: 135.00 m.hʕ@h*h"h hgfffj|Bd!d!d!jd!Zd- 4t?I]|Bɢ])Y ]LaiY)efaaieڇimͿm qM checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512726 ,|0?A2m@25@2beB;ٱ2 :AHRS rotation from veh to nav: [[-0.056937,0.989228,0.134859],[-0.998373,-0.056014,-0.010635],[-0.002966,-0.135245,0.990808]]2H`&?` C?׭ DžLhO?i2m@I2T];0@YF|ByFIIbDNVDNyVI%Vi=ٔV?G;Q-Z>9Z"?YZ"?=ZdFyZ0D^;E^?`Q 5f4by?Q 9f4bż)bLBYdyfyҿQ Ij?bCIbB:ib[:b*4ylɮn .Al~B*** querying acoustic contact ***i| i|jh FNOT Ignoring new targets: 134.40 m.Rh :Zh :% ProNav: ac range: 134.397964 m, nav range: 130.359222 m, bearing: 279.659494 deg, approach rate: -0.566549 m/s, LOS rate: 0.061493 deg/s, cmd heading: 268.196831 deg, new cmd heading: 268.259722 deg. Bh%(;-HeadingCmd: 4.682015 target range: 134.397964 and range: 135.00 m.h-ӕ@h)*h)"h) h)g)f)f1f1d1d1d9jdAZdE`?m|BɢmOʼ)i uiq)u1qqiuJi#̿ip<VEջIӕ@IE EE-E"Ej;*EB;VEt4ZEa@a@a@a@ԩ0:Dchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763368@ @@@ nManaging dock network, ignoring radio surface power off) ^A B} >By B} XIB} |BB} =By By B} o~;B} 5EBABABABE =BE =CEa49 A I I O > ,xc90?A2@2@2A;ٱ2 :AHRS rotation from veh to nav: [[-0.057021,0.989258,0.134599],[-0.998369,-0.056101,-0.010621],[-0.002955,-0.134985,0.990843]]2H1?`:?@G@E5h.G?i2@I2B];0YB|By@IF%>)F>iUMb@Mb@Mb@QQQQ Q9U9Y=dFy:D8E>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014920Q 54p?Q 94G̼)LBY?Q E:yQԿQ I?CI ;i ;S34yɮ.AjhFNOT Ignoring new targets: 134.40 m.Rh:Zh: ProNav: ac range: 134.397964 m, nav range: 130.093216 m, bearing: 279.690225 deg, approach rate: -0.557731 m/s, LOS rate: 0.064564 deg/s, cmd heading: 268.259723 deg, new cmd heading: 268.352103 deg. Bh=1;HeadingCmd: 4.683628 target range: 134.397964 and range: 135.00 m.hG@h*h"h hgff f c|Bd d djdZdE@=|BɢE)A EniA)MvIIiMo i]N̿uo<}DI}G@IԡeE EE&E"EC;*EG;VE4ZEBEo=a2Eo=aJE; , S0?A6J@6@6_.;ٱ6k JAHRS rotation from veh to nav: [[-0.057441,0.988911,0.136948],[-0.998345,-0.056531,-0.010528],[-0.002669,-0.137326,0.990522]]6H h)??q` e`[?i6J@I6wJ];6CYR|ByRUIZ@AXbD^VD^!ybI=%fY=ٔfFQ-f>9hYh=jdFyjADjEn>lQ 5r4n?Q 9v4nѼ)nLBYtyv\ԿQ Iv?nCIn;in;n94y~Bɮ~-A~_Ejh%FNOT Ignoring new targets: 134.40 m.Rh%W:Zh-W:= ProNav: ac range: 134.397964 m, nav range: 129.883606 m, bearing: 279.714565 deg, approach rate: -0.557504 m/s, LOS rate: 0.064844 deg/s, cmd heading: 268.352095 deg, new cmd heading: 268.425235 deg. Bh=2;EHeadingCmd: 4.684904 target range: 134.397964 and range: 135.00 m.hE@hA*hA"hA hAgIfIfIfQdQdQdQjdQZd]`G@颅|BɢHǵ) @ i)1顉ij iy̿n<vI@I!checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518872Q@ @@/@@fA@E EE*E"Eް;*EL;VE(N4ZEa@a@a@a@y ^A z} checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771843ԩ A I I O% > ,n0?AY|ByQIԱi-Mb@Mb@Mb@)))) )9-Q?{Gz~jtx?Y-?y)-;-VA-@ ))-A)Y-AbDEVDE0yU@%U=ٔUQ-]>9YYY=]dFy]LDeEe>iQ 5u4m ?Q 9u4mټ)mLBYu?Q E}:y}ԿQ I}?mCIm:im:mB4yɮ-AjhFNOT Ignoring new targets: 134.40 m.Rh%:Zh%: ProNav: ac range: 134.397964 m, nav range: 129.592834 m, bearing: 279.748691 deg, approach rate: -0.565418 m/s, LOS rate: 0.066508 deg/s, cmd heading: 268.425232 deg, new cmd heading: 268.527839 deg. Bh6;HeadingCmd: 4.686695 target range: 134.397964 and range: 135.00 m.hh@h*h"h hgfff|BdddjdZdUd @B <A B>BBBB =BBB~;B5E5|Bɢ5T)1 58i1)=99i= iEY̿Em%=BDAT read: Rx Time:04:10:40.6625 TRx dataTimestamp_ set to:1761538241.956512checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024286 ^A &E  E E E "E ;*E G;VE ZE BE =a% 2E =a- JE a- :E a- I I O >1 " ,c0?AY~|By~\I bDVDܲyE>R=%Ms=ٔQQ-]?9iYq=}dFy}SDyE}?Q 54 ?Q 94߼)LBYyQ I?CI:i|:H4yɮQ-AjhFNOT Ignoring new targets: 134.40 m.RhИ:ZhИ: ProNav: ac range: 134.397964 m, nav range: 129.399643 m, bearing: 279.771453 deg, approach rate: -0.566126 m/s, LOS rate: 0.066800 deg/s, cmd heading: 268.527849 deg, new cmd heading: 268.596235 deg. Bh`7;HeadingCmd: 4.687889 target range: 134.397964 and range: 135.00 m.h/@h*h"h hgfffdddjdZd @%|Bɢ-)) -+i))-11i5޺i=2̿=<m<=.FI=/@IAuchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.2775519@ @@4@9^A*:i  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526763I! I9 OE >{+( ,ND0?A 6@6@6tٱ6fg >AHRS rotation from veh to nav: [[-0.056150,0.987812,0.145173],[-0.998422,-0.055598,-0.007863],[0.000304,-0.145385,0.989375]]6H౿@'??@@Iwr3?¿?i6@I6O'];6CYF|ByFTI NpD\zD\Eb EbEb,E`"Eb@;*EbG;VEbg4ZE`af@af@af@af@9hYh=jdFyj[Dn ];En>pQ 5v4r^ ?Q 9v4r)rLBYtyzcԿQ Iz?r/CIr :ir9:rO4y|ɮ~-A|B*** querying acoustic contact ***i ijh!-FNOT Ignoring new targets: 134.40 m.Rh=/:ZhE/:u ProNav: ac range: 134.397964 m, nav range: 129.182648 m, bearing: 279.796957 deg, approach rate: -0.565062 m/s, LOS rate: 0.066526 deg/s, cmd heading: 268.596233 deg, new cmd heading: 268.672874 deg. Bh}6;HeadingCmd: 4.689226 target range: 134.397964 and range: 135.00 m.h$@h*h"h]G hg9YAfffdddjdZdܕ@%|Bɢ%﫼)) -PiI)Ml"IIiUiU̿]l<]jDI]$@IYi@ @@4@@=@=DAT read: 04:10:40.6625 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 420,-0.02, 1.443,-0.322, 1.256, 1.224, PHS= 0.322,-1.501,-0.011, RAW= 140.1, 14.1, CAL= 139.4, 15.1, ROT= 10.6, -15.1 Ygot valid direction response: 04:10:40.6625 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 420,-0.02, 1.443,-0.322, 1.256, 1.224, PHS= 0.322,-1.501,-0.011, RAW= 140.1, 14.1, CAL= 139.4, 15.1, ROT= 10.6, -15.1 PDAT read: Bearing 74.7, 7.7 (Local) ~Local bearing/azimuth received: Bearing 74.7, 7.7 (Local) DAT read: Range 11 to 50 : 132.9 m (Round-trip 177.3 ms) speed 0.8 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.948997,0.177600,0.260505]Fpublishing direction and range infoyaeTQP/^?[T4˜?QfJ0?YeCaeaa a)aIe/ݤ>ie eX94eC~@ed{>e@ eV>)eq=>IeVaael%?DKh\?C? eԳ>)e{Ieq=>ieVaaT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ԡ^AM 2DI I O >B >B %CB _IB |BB =B B B ~;B 5ET. ,v0?A2L@2 @2ߺٱ2 :AHRS rotation from veh to nav: [[-0.054881,0.987341,0.148816],[-0.998491,-0.054523,-0.006490],[0.001706,-0.148948,0.988844]]2H aK?i ?``h꫿`z `[? ÿ@?i2L@I2X];2CLYR|ByRVIb(DAT read: user:75> fBDAT read: Tx time:04:10:42.0311 f$Ping request sent.f9Y=dFydDh/;E >Q 54?Q 94)LBY'?Q E:yֿQ I%?RCI;i#;W4y)ɮ-y-A)iiz0?AJiNCRiNCji/'@bc_@4xS7@);A@RTQP/^?[T4˜?QfJ0?Ziq=>biVjvA4p5@j%ַ_!wq>@ZNSԠ?Pǡ8?2i:iA"iv?*i<-+BiBi@3?iieBiCi<@} addTargetRange:: Added new target pos. range: 132.899994 m, deltaT: 4.031473 s, deltaX: -2.100006 m, approachRate: -0.520903 m/s, rangeRepo size: 4  Added new target pos. range: 132.305008 m, bearing: 279.590969 deg, lat: 36.779481 deg, lon: -121.859533 deg, deltaT: 4.031473 s, deltaX: -2.092957 m, approachRate: -0.519154 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 132.31 m.RhZh ProNav: ac range: 132.305008 m, nav range: 128.883957 m, bearing: 279.736998 deg, approach rate: 0.000000 m/s, LOS rate: 0.066526 deg/s, cmd heading: 268.672868 deg, new cmd heading: 268.768429 deg. BhHeadingCmd: 4.690894 target range: 132.305008 and range: 132.90 m.h@h*h"h hgfff|Bdddjd̜`@Zd i?E EE*E"Ep;*EF;VE(N4ZEBE-=a2E-=aJEǧ=5 ,0?A:.@:@:bNٱ:\y BAHRS rotation from veh to nav: [[-0.053067,0.987225,0.150236],[-0.998586,-0.052937,-0.004864],[0.003151,-0.150281,0.988638]]:H+X?:?j@si? k<ÿ?i:.@I:-];:CYJ{|ByJEIIN=)N=bDRVDR yZ!%Zx=ٔ^EQ-^?9`Y`=bdFybkDb ;Eb?dQ 5j4fO?Q 9j4f)fLBYlynCֿQ In?fjCIf ;if;f]4yvBɮv-AviEjh9=FNOT Ignoring new targets: 132.31 m.RhE[:ZhE[:U ProNav: ac range: 132.305008 m, nav range: 128.701202 m, bearing: 279.759785 deg, approach rate: -0.550880 m/s, LOS rate: 0.068786 deg/s, cmd heading: 268.768436 deg, new cmd heading: 268.836894 deg. BhU<;]HeadingCmd: 4.692089 target range: 132.305008 and range: 132.90 m.h]%@hY*hY"ha hagafafafidididijdiZdu ?颥|Bɢ;) i)\顩ii ˿kj<,AI%@Im9@i @i@m/@qchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502821)D%=D4=E EE+E"E;*En:;VE [4ZEa@a@a@a@Q^AGgLI9IIO]>ԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755290Sf; ,W0?AB0@BI+@B뙗ٱB bAHRS rotation from veh to nav: [[-0.050833,0.987276,0.150670],[-0.998696,-0.050949,-0.003089],[0.004626,-0.150630,0.988579]]BHė?#I?@RNi9r?Gÿ q?iB0@IB];BCaY|ByPIAAAAbD VD P)3y0=%1=ٔPQ->9Y=dFyuDל;E>Q 54?Q 94)LBYyտQ I?CIR:i";e4yɮE-AjhFNOT Ignoring new targets: 132.31 m.Rh b:Zh b: ProNav: ac range: 132.305008 m, nav range: 128.442474 m, bearing: 279.791884 deg, approach rate: -0.560449 m/s, LOS rate: 0.069672 deg/s, cmd heading: 268.836901 deg, new cmd heading: 268.933393 deg. BhC?;%HeadingCmd: 4.693773 target range: 132.305008 and range: 132.90 m.h%d3@h!*h!"h! h!g!f)f)f)d1d1d1jd1Zd=^>?e|BɢenǦ)a eia)mbliiimiuq˿u#riBBXIB|BB =BBDB~;B5Eԉ9@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006616Ա^A 2DE  E E )E "E [;*E @;VE FA4ZE BE =a 2E =a JE Ƣ>NB , 1?A2F@2@@2kȻٱ2~ :AHRS rotation from veh to nav: [[-0.048210,0.987591,0.149465],[-0.998819,-0.048581,-0.001169],[0.006107,-0.149344,0.988766]]2H𮨿X?`!?@Rߨ'S Cy?ÿ`?i2F@I2IJ];2CYbp|Byf?IimMb@Mb@Mb@iiii i9mgfffff?/$~jth?Ym3?ymmD;mAiԹ mA)m^AiYmAbDVD1yⒽ%T=ٔ|Q->9 ?Y ?=dFy|D<;E>Q 5 4~?Q 94)LBYL?Q E:yӿQ I?CI ;i ;nl4y!ɮ%-A!=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258887jhQ]FNOT Ignoring new targets: 132.31 m.Rh]:Zh]:m ProNav: ac range: 132.305008 m, nav range: 128.230728 m, bearing: 279.816491 deg, approach rate: -0.554188 m/s, LOS rate: 0.064508 deg/s, cmd heading: 268.933398 deg, new cmd heading: 269.007341 deg. Bhm1;uHeadingCmd: 4.695064 target range: 132.305008 and range: 132.90 m.hu=@hy*hy"hy hygyfyff|BdddjdZdZ?颵|Bɢ贼) Xi)RiiG˿h<)I=@I@ @@0@^Am9 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512035A ؟AI I O >Q MxH ,#1?A2^@2kY@2ٱ2 :AHRS rotation from veh to nav: [[-0.045207,0.987853,0.148668],[-0.998950,-0.045815,0.000666],[0.007469,-0.148481,0.988887]]2Ha%~??`euGE?$~?`pÿ@?i2^@I2=];0EZ EZEZ*EX"EZ;*EZGA;VEZ(N4ZEXan@an@an@an@Yer|Bye@I qqbDVD2y;%O=ٔ$bQ->9"?Y"?=dFyD;E>Q 54?Q 94)LBYy_ӿQ I?CI;i;Zs4yɮ-AB*** querying acoustic contact ***i ijh FNOT Ignoring new targets: 132.31 m.1RhU:Zh]:e ProNav: ac range: 132.305008 m, nav range: 128.009995 m, bearing: 279.841916 deg, approach rate: -0.558832 m/s, LOS rate: 0.064480 deg/s, cmd heading: 269.007328 deg, new cmd heading: 269.083735 deg. Bhm1;mHeadingCmd: 4.696397 target range: 132.305008 and range: 132.90 m.hmH@hq*hq"h hgfffdddjdZd G?|Bɢ) ɼi)Ȣi(i%˿%&g<%I%H@I)@ @@?0@Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762875iԙ^AA>A>B B B B B =B B B b~;B 4EI I O >Թ N ,=1?A2w@2cr@2ٱ2  >AHRS rotation from veh to nav: [[-0.042162,0.988207,0.147204],[-0.999071,-0.043014,0.002608],[0.008910,-0.146957,0.989103]]2H5d? ?d`\^e? %??`¿?i2w@I2W0];Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.0172970Y^Q|By^,IiEMb@Mb@Mb@AAAA A9EV-?V-Mb`?YEh?yEE;EAEE@ EA)AAYEA ];]bD]VD]Jym%uM=ٔulQ-u>9yYy=}dFy}D};E}>Q 5-42?Q 9-4 )MBY5?Q E5:y5ԿQ I5?CI DU ,9hYh=ndFynD5;E=>AQ 5M4E?Q 9M4E)EMBYIyM~ԿQ IM?ECIE@:iE7:E*4yYɮ]-AYjhFNOT Ignoring new targets: 132.31 m.Rhv:Zhv: ProNav: ac range: 132.305008 m, nav range: 127.576019 m, bearing: 279.894292 deg, approach rate: -0.578815 m/s, LOS rate: 0.069707 deg/s, cmd heading: 269.163084 deg, new cmd heading: 269.241132 deg. Bh[?;HeadingCmd: 4.699144 target range: 132.305008 and range: 132.90 m.hd_@h*h"h hgfffdddjdZd@T@|Bɢh) ,i)Wiiʿf<ٻId_@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519025@ @@0@E EE,E"E;*EC;VEg4ZEa@a@a@a@^AIqIO>I e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770763[ ,Hq1?AN@Nֶ@N\ٱN ZAHRS rotation from veh to nav: [[-0.033811,0.989001,0.143992],[-0.999338,-0.035391,0.008424],[0.013428,-0.143612,0.989543]]NHO?Un?`@??a¿V?iN@INV];NCYb_|Byb4IIf0>)fp=bDnVDnfy-;%5E=ٔdQ->9Y=dFyDT<E> Q 5E4 ?Q 9M4 ) MBYQy}ӿQ I}? CI wBYB]LIB]|BB] =BYBYB]~;B]4EB%CB%CBB =B =C5QBhM&;HeadingCmd: 4.700607 target range: 132.305008 and range: 132.90 m.h_k@h*h"h hgfffdddjdZdq @=}|BɢE)A EiA)X顉iDiʿue< bKI_k@Iy@ @@4@BDAT read: Rx Time:04:10:44.6096 TRx dataTimestamp_ set to:1761538245.989323checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025052ԩ ^A `ԻE  E E +E "E m;*E pD;VE [4ZE BE } =a 2E } =a JE :b ,1?A@Fю@Fe̕@FLyٱF.} RAHRS rotation from veh to nav: [[-0.031180,0.989236,0.142969],[-0.999398,-0.033038,0.010638],[0.015247,-0.142552,0.989670]]FH`퟿ѧ?L?O꠿Ʌ?@9?!?¿@`?iFю@IFGE];FCYZR|ByZ,IiuMb@Mb@Mb@qqqq q9uʡE?V-Yu-?yquuAur@ u1A)uGAqYqbD VD2y1%C=ٔڔQ->9Y=dFyD;E>Q 54@?Q 94)MBY]?Q E:y|ӿQ I?;CI ;i;4yɮ-AjhFNOT Ignoring new targets: 132.31 m.Rh:Zh:  ProNav: ac range: 132.305008 m, nav range: 127.122444 m, bearing: 279.947664 deg, approach rate: -0.598819 m/s, LOS rate: 0.070361 deg/s, cmd heading: 269.324932 deg, new cmd heading: 269.401549 deg. Bh &A;checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274885HeadingCmd: 4.701944 target range: 132.305008 and range: 132.90 m.h%Sv@h!*h!"h! h!g!f)f)f-|Bd)d1d1jd1Zd5@ @ez|Bɢe\)a eia)mʣiiimiu!fʿ%\e<tt!ISv@IԱ@ @@/@@@hA^Aeyb]IIOE> DAT read: 04:10:44.6096 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 406,-0.37, 0.060,-1.653,-0.094,-0.132, PHS= 0.295,-1.475,-0.006, RAW= 140.9, 14.3, CAL= 140.1, 15.4, ROT= 9.9, -15.4  Ygot valid direction response: 04:10:44.6096 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 406,-0.37, 0.060,-1.653,-0.094,-0.132, PHS= 0.295,-1.475,-0.006, RAW= 140.9, 14.3, CAL= 140.1, 15.4, ROT= 9.9, -15.4  PDAT read: Bearing 76.0, 7.8 (Local)  ~Local bearing/azimuth received: Bearing 76.0, 7.8 (Local)  DAT read: Range 11 to 50 : 130.8 m (Round-trip 174.4 ms) speed 0.5 m/s  R#Rx 1: Read range and direction messages.! - \direction in FSK: [0.949739,0.165756,0.265556]- Fpublishing direction and range infoy  Cd? ԉ~7?<?Y C ) DI = >i ̼ Ļ c@ r> C~@ >) ;0>I > ?HZ?Od? J_>) "I ;0>i E T****** received valid address query ******E R****** received valid ping request ******M Querying Benthos address 50 with one ping in standard two-way mode.h ,Ϥ1?At%P@%ܕ@%Iٱ%^E= E=E9E9"E=p;*E=K;VE9ZE9aE@aE@aE@aE@ ]AHRS rotation from veh to nav: [[-0.029264,0.989503,0.141520],[-0.999423,-0.031407,0.012937],[0.017246,-0.141060,0.989851]]%H@F?W?E~?`稑?@B¿۬?i%P@I%hs];%CY?|By IbDVDy:%D=ٔEQ->9Y=dFyD Ɩ;E >Q 5E4?Q 9E4")MBYAyM=ӿQ IM?YCI:iI:і4yqɮu!.AqiiKr1?AJi6CRi6Cjiǔ@bE1^@*Yo5@GJA@RCd? ԉ~7?<?Zi;0>bij<6@O'^p|@@Ze =??SrGn+_?2i:i A"iMRj?*iBiBiiiiBi^@ addTargetRange:: Added new target pos. range: 130.800003 m, deltaT: 3.779530 s, deltaX: -2.099991 m, approachRate: -0.555622 m/s, rangeRepo size: 4 5 Added new target pos. range: 130.213837 m, bearing: 280.357488 deg, lat: 36.779481 deg, lon: -121.859533 deg, deltaT: 3.779530 s, deltaX: -2.091171 m, approachRate: -0.553289 m/s, posRepo size: 4 jh1=FNOT Ignoring new targets: 130.21 m.Rh=Zh9m ProNav: ac range: 130.213837 m, nav range: 126.891975 m, bearing: 279.974584 deg, approach rate: 0.000000 m/s, LOS rate: 0.070361 deg/s, cmd heading: 269.401540 deg, new cmd heading: 269.493980 deg. BhquHeadingCmd: 4.703557 target range: 130.213837 and range: 130.80 m.h}@hy*hy"hy hygfffdddjdY`@Zd O? =u|Bɢ=x)A EYiA)>2iai@1ʿd<ܣI@I-(DAT read: user:76> 5BDAT read: Tx time:04:10:45.8311 5$Ping request sent.5?@p ,x 1?A 6r@6:@6Oٱ6 >AHRS rotation from veh to nav: [[-0.027660,0.989605,0.141128],[-0.999428,-0.030128,0.015380],[0.019472,-0.140622,0.989872]]6HRת?~?Oٞ?@??i6r@I6^];6CYFA|ByF!I HHi}Mb@Mb@Mb@yyyy y9}\(\?Zd;OMbY}?y}j}}A}@ }A)}1AyY}AbDVDk2yW;%>=ٔQ->9 ?Y ?=dFyDt;E>Q 54/?Q 94()MBY?Q E:yѿQ I?{CI;i;V4yɮ.A%B*** querying acoustic contact ***i! i!jh9EFNOT Ignoring new targets: 130.21 m.RhM:ZhM:u ProNav: ac range: 130.213837 m, nav range: 126.638977 m, bearing: 280.002746 deg, approach rate: -0.607108 m/s, LOS rate: 0.067714 deg/s, cmd heading: 269.493993 deg, new cmd heading: 269.578648 deg. Bhu9;HeadingCmd: 4.705035 target range: 130.213837 and range: 130.80 m.E% E%E%)E!"E%;*E%XV;VE%FA4ZE!BE%M=a52E%M=a5JE%myv ,F(1?A4>{@>C@>ٱ>f JAHRS rotation from veh to nav: [[-0.026557,0.989835,0.139721],[-0.999409,-0.029340,0.017902],[0.021819,-0.139163,0.990029]]>H1?`c?(k T?@W?`Q?i>{@I>Q];>CYR.|ByRI Zp9dYh=jdFyjDjy>;En>lQ 5r4n?Q 9v4n.)nMBYtyvѿQ Iv?nCIn:in:n4y|ɮ~d.A|jh%FNOT Ignoring new targets: 130.21 m.Rh%:Zh-:= ProNav: ac range: 130.213837 m, nav range: 126.415848 m, bearing: 280.027560 deg, approach rate: -0.600410 m/s, LOS rate: 0.066887 deg/s, cmd heading: 269.578660 deg, new cmd heading: 269.653232 deg. Bh=7;EHeadingCmd: 4.706336 target range: 130.213837 and range: 130.80 m.hEO@hA*hA"hA hAgAfIfIfIdQdQdQjdQZdU@>?颅n|Bɢl˼) }i)eݤ顉i2i.ɿc<W'IO@IUchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.755360!@) @)@-50@)@5=@5=ԁ h>CEv EjE-E"Ec;*Ek&;VEt4ZEa@a@a@a@G(hA!e춿9m(hAYmAԱ^A- AY Ii Iy O >  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006616| ,~1?A`}W@}@}żٱ} B>BB9IBh|BBBBDB};B4E AHRS rotation from veh to nav: [[-0.026206,0.989973,0.138804],[-0.999367,-0.029285,0.020185],[0.024047,-0.138187,0.990114]]}H՚ܭ?U? `S?ܟ?`?i}W@I}l];}CY/|ByiMb@Mb@Mb@ 9NbX9?~jt rhY%?yDCVAr@ 1A)AYQAbD%VD%y5j:%5)=ٔ5?Q-5>99Y9==dFy=DE=:EE>IQ 5U4M?Q 9U4M/7)IYU%?Q EU:y];ϿQ I]?MCIM:iM:Mg4yeؓBɮe.Ae|EjhFNOT Ignoring new targets: 130.21 m.Rh?:Zh?: ProNav: ac range: 130.213837 m, nav range: 126.111076 m, bearing: 280.058992 deg, approach rate: -0.631069 m/s, LOS rate: 0.065242 deg/s, cmd heading: 269.653218 deg, new cmd heading: 269.747743 deg. Bh3;HeadingCmd: 4.707986 target range: 130.213837 and range: 130.80 m.hӧ@h*h"h hgfff|BdddjdZdX?h|Bɢ,¼) gi)7Pi&7i!ɿc<atI ӧ@I mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259913@ @@0@E EE,E"E1;*ES8;VEg4ZEBE3 ,&2?A2@2y@2qӼٱ2A >AHRS rotation from veh to nav: [[-0.025674,0.990083,0.138119],[-0.999335,-0.028996,0.022088],[0.025873,-0.137460,0.990169]]2H`dJ ®??`@ ?`~?M`w?i2@I22^];2CYBE|ByB$INchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510819bDR VDR2yZω=%^z=ٔ^˶Q-^?9^"?Yb"?=bdFybDb:Eb?dQ 5j4f?Q 9n4f<)f MBYlyn)ϿQ In?fCIf;if:f4ypɮr-AtxjhFNOT Ignoring new targets: 130.21 m.Rh:Zh:- ProNav: ac range: 130.213837 m, nav range: 125.904564 m, bearing: 280.080326 deg, approach rate: -0.629918 m/s, LOS rate: 0.065179 deg/s, cmd heading: 269.747748 deg, new cmd heading: 269.811853 deg. Bh-2;5HeadingCmd: 4.709105 target range: 130.213837 and range: 130.80 m.h5@h1*h1"h9 h9g9f9f9fAdAdAdAjdAZdM?e|Bɢ7) i)ziZix{ɿb<I@IQ@ @@4@Q^A%yUchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763688I! I1 OE >y E  E E *E "E ;*E =;VE (N4ZE a @a @a @a @b ,(2?AY;|ByIbDVDy-%-D=ٔ-Q-->91Y1=5dFy5D5E=>AQ 5M4E?Q 9M4EC)E!MBYIyIQ IM?ECIE:iE:Ei4YyYɮ]-AajhFNOT Ignoring new targets: 130.21 m.Rh:Zh: ProNav: ac range: 130.213837 m, nav range: 125.641174 m, bearing: 280.107638 deg, approach rate: -0.630826 m/s, LOS rate: 0.065552 deg/s, cmd heading: 269.811843 deg, new cmd heading: 269.893953 deg. Bh3;HeadingCmd: 4.710538 target range: 130.213837 and range: 130.80 m.h@h*h"h hgfffdddjdZd`@%`|Bɢ%*Ź)! %Li))-))i-qi=Lɿ=a<=ŲI=@IAIY)]dAi߱I߱checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015904)@) @)@-,3@)ԉԹB>B&CBBB =BBB};B^A I I O >e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266701 ,C2?A:@:@:@ٱ:0T FAHRS rotation from veh to nav: [[-0.025895,0.989505,0.142163],[-0.999221,-0.029857,0.025809],[0.029783,-0.141384,0.989507]]:H@=`?f2? 풞m?``?¿ ?i:@I:|o];:CYNR|ByN,IieMb@Mb@Mb@aaaa a9eˡE?~jth99Y9==dFy=D=EE>AQ 5M4E?Q 9u4EvK)E&MBYu'?Q Eu:yu4ͿQ Iu?E#CIE;iE;E!œ4yɮy-AB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 130.21 m.Rh:Zh: ProNav: ac range: 130.213837 m, nav range: 125.357697 m, bearing: 280.135090 deg, approach rate: -0.630942 m/s, LOS rate: 0.061237 deg/s, cmd heading: 269.893942 deg, new cmd heading: 269.976481 deg. Bh(; HeadingCmd: 4.711978 target range: 130.213837 and range: 130.80 m.h Ȗ@h)*h)"h) h1g1f1f1f=)|Bd9d9d9jd9ZdEK@颭[|Bɢ) i)3̥顱iIiNɿa<,IȖ@I9@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518667^A #2A >A >I I) OU > r , \2?A4<ɰ4<2@2@2aٱ2W :AHRS rotation from veh to nav: [[-0.026506,0.988821,0.146730],[-0.999147,-0.030854,0.027436],[0.031657,-0.145878,0.988796]]2H@v$l??@HP?Z5?` ¿`7?i2@I2h];2CYBa|ByB5I DDbDNVDNyV$=%Vg=ٔZQ-Z>9XYX=^dFy^D^Eb>`Q 5f4bD?Q 9f4bQ)b*MBYhyjJͿQ Ij?bACIbp:ibg:bRȜ4y]̓Bɮ],A]EjhFNOT Ignoring new targets: 130.21 m.Rh׋:Zh׋: ProNav: ac range: 130.213837 m, nav range: 125.130371 m, bearing: 280.157268 deg, approach rate: -0.625426 m/s, LOS rate: 0.061130 deg/s, cmd heading: 269.976478 deg, new cmd heading: 270.043135 deg. Bh';HeadingCmd: 4.713142 target range: 130.213837 and range: 130.80 m.hҖ@h*h"h hgfffdddjdZd`#@X|BɢRl>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771075 ) Mp7  BDAT read: Rx Time:04:10:48.4061  TRx dataTimestamp_ set to:1761538249.768157 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023768y m ,Xv2?AB=>B9B=FIB=||BB= =B9B9B=};B=4E L@ @ ^ٱ [ AHRS rotation from veh to nav: [[-0.027180,0.988159,0.151005],[-0.999078,-0.031873,0.028745],[0.033217,-0.150085,0.988115]] H2՛?#T?`sQ?o??5ÿ ?i L@I ]; CY-h|By5:IIiMb@Mb@Mb@ 9Pn?y&1|?MbpY$?y`; GA)AYzA <bDVDk1ys<%+=ٔGVQ->9Y=dFyDE>Q 54?Q 94Y)2MBY$?Q E:yG˿Q I?hCI[i = @ @X> ,@ k>) >I k O'?)o?n? sf>) XI >i k T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseI! I9 OE > o ,2?AE@En@E ٱE UAHRS rotation from veh to nav: [[-0.027502,0.987624,0.154412],[-0.999030,-0.032472,0.029757],[0.034403,-0.153444,0.987558]]EH)?? 7x? 7? ÿ?iE@IE|];ECY|ByOIbDVD:y=%M=ٔ1CQ->9Y=dFyDTE>Q 54p?Q 94W`)9MBYyS˿Q I?CI:i[:ל4yɮV,AjhaeFNOT Ignoring new targets: 130.21 m.RhmD:ZhmD: ProNav: ac range: 130.213837 m, nav range: 124.579536 m, bearing: 280.207246 deg, approach rate: -0.648168 m/s, LOS rate: 0.059130 deg/s, cmd heading: 270.124802 deg, new cmd heading: 270.193400 deg. BhR";HeadingCmd: 4.715765 target range: 130.213837 and range: 130.80 m.h@h*h"h hgfffdddjdZd`F#@%O|Bɢ-Ђ)) -q=i))-31QiU6|i]?ȿ]u^<]9I]@Ia @  @ @ @ )-DAT read: Range 11 to 50 : 128.1 m (Round-trip 170.8 ms) speed 0.4 m/s 5X#Rx 2: Read range message, but no direction.yYC5T****** received valid address query ******5R****** received valid ping request ******5Querying Benthos address 50 with one ping in standard two-way mode.9^A &EM  EM EI EI "EM F;*EM 2;VEI ZEI a] @a] @a] @a] @A I I O- >a ,<2?AY=|By=bIIE=)E=MAMAbDUVDUܲy=%Q=ٔQ->9Y=dFyDE>Q 54?Q 94f)@MBYyQ I?CIN:i:xޜ4yɮ+A addTargetRange:: Added new target pos. range: 128.100006 m, deltaT: 4.032171 s, deltaX: -2.699997 m, approachRate: -0.669614 m/s, rangeRepo size: 4 jhFNOT Ignoring new targets: 130.21 m.Rh:Zh: ProNav: ac range: 130.213837 m, nav range: 124.333580 m, bearing: 280.229730 deg, approach rate: -0.642031 m/s, LOS rate: 0.058806 deg/s, cmd heading: 270.193404 deg, new cmd heading: 270.260989 deg. Bhn!;HeadingCmd: 4.716944 target range: 130.213837 and range: 128.10 m.h5@h *h "h  h g f ffdddjd@3`@ZdA?EL|BɢM;\)I M=iI)MҤIQQiUˁi]zȿ]C]<]IIe5@Ia(DAT read: user:77> BDAT read: Tx time:04:10:49.8311 $Ping request sent.AM >E] Q E] ME] *EY "E] ;*E] %;VE] (N4ZEY BE] sׁ ,2?A2v@2>@2ٱ2 :AHRS rotation from veh to nav: [[-0.027767,0.987168,0.157252],[-0.998935,-0.033203,0.032050],[0.036860,-0.156194,0.987038]]2Hn? ?E h?Aߢ?`,ÿѕ?i2v@I2];2CYB|ByBjIHiMMb@Mb@Mb@IIII I9MMbX9?~jth?YM!?yMD;MMAME@ MA)IIYMAe@AabDmVDm:y}<%}-=ٔ}ªQ-}>9Y=dFy D`E>Q 54|?Q 94n)KMBY!?Q E:y̿Q I?CI:i:4yɮ+AB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 130.21 m.Rhƅ:Zhƅ: ProNav: ac range: 130.213837 m, nav range: 124.041664 m, bearing: 280.257293 deg, approach rate: -0.617873 m/s, LOS rate: 0.058478 deg/s, cmd heading: 270.260996 deg, new cmd heading: 270.343880 deg. Bh ;HeadingCmd: 4.718391 target range: 130.213837 and range: 128.10 m.h@h*h"h hgfff|Bdd djdZd ?MH|BɢMQU)Q U=iQ)UͣQQiUi]1Kȿ]\<]<`Ie@Ia%0checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503051@ @@0@^A0:D A .AI I O- >= checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755025$ ,J2?Ab@*@ٱM -AHRS rotation from veh to nav: [[-0.027410,0.987240,0.156861],[-0.998927,-0.032911,0.032582],[0.037329,-0.155800,0.987083]]H Yy??5`٠??@=ÿ`/?ib@I2];CY=|By=IbDMVDMk1y]=%]M=ٔe"Q-e>9e ?Ye ?=edFymDm:j:Em>qQ 5}4u?Q 9}4ueu)uTMBYy˿Q I?uCIu;iu;u4yœBɮ*AEjhFNOT Ignoring new targets: 130.21 m.Rhz:Zhz: ProNav: ac range: 130.213837 m, nav range: 123.794830 m, bearing: 280.280660 deg, approach rate: -0.619734 m/s, LOS rate: 0.058785 deg/s, cmd heading: 270.343887 deg, new cmd heading: 270.414128 deg. Bh`!;HeadingCmd: 4.719617 target range: 130.213837 and range: 128.10 m.h@h*h"h hgfffdddjdZd`?E-R E-;E-.E)"E-;*E- ;VE-ـ4ZE)a=@a=@a=@a=@D|Bɢ) 2>i)RƢii#ȿy[<kI@I )iߩIߩchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.011254QQ@Q @Q@U/@QBE >BE 'CBE IBE |BBE =BA BE DBE /};BE e4Eԩ ^Au jb Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258878A؟AIIO>o ,uY3?A2p@28@2{ٱ2a ZAHRS rotation from veh to nav: [[-0.026793,0.987400,0.155962],[-0.998930,-0.032331,0.033081],[0.037707,-0.154909,0.987209]]2Hoǘ?@? ;@?@LN?ÿ 7?i2p@I2({];0Y~|By~I iMb@Mb@Mb@ 9K?Mbp~jtx?Y^?y;A A)AYpA) E49e"?Ye"?=edFyeDm:Em>qQ 5}4u*횊?Q 9}4u})udMBY}a?Q E:y"ͿQ I?uCIu:iu:u4yɮ,*AE< E9E)E"E,r;*E ;VEFA4ZEBE>i9)=XA99i=Ps iEǿM)ZԱ ,d 3?A2]@2%@2#ٱ2m  :AHRS rotation from veh to nav: [[-0.026314,0.987466,0.155621],[-0.998937,-0.031870,0.033313],[0.037855,-0.154579,0.987255]]2H$S?`a? JAQ]?a?;ÿ?i2]@I2w];2CYB4}ByBIbDNVDN0yV>%Vl=ٔV߹Q-V?9XYX=ZdFyZ$DZ :E^?`Q 5b4b욊?Q 9f4b)bnMBYdyfͿQ If?b2CIb :ib$:b4yhɮnZ)AljhFNOT Ignoring new targets: 130.21 m.Rh :Zh : ProNav: ac range: 130.213837 m, nav range: 123.285309 m, bearing: 280.331398 deg, approach rate: -0.595732 m/s, LOS rate: 0.059489 deg/s, cmd heading: 270.505435 deg, new cmd heading: 270.566656 deg. BhN#;%HeadingCmd: 4.722279 target range: 130.213837 and range: 128.10 m.h%@h!*h!"h! h!g!f)f)f)d)d1d1jd1Zd5?e>|Bɢe)a eu>ia)mI蟼iiim iuǿuZM checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014955 B ,63?AR@R@RٱRY| ZAHRS rotation from veh to nav: [[-0.024642,0.987754,0.154059],[-0.998989,-0.030126,0.033365],[0.037597,-0.153081,0.987498]]RH ;?1?`Hٞ'???&ÿ?iR@IRp];RCY G}ByIBm>Bm-CBmIBmG}BBm =Bm>DBmDBm|;BmS4EbDUVDUk1yo6=%;=ٔ:Q->9Y=dFy-D6x;E>Q 5U4뚊?Q 9]43)|MBYiym̿Q Iu?TCI9=i=4yqɮu )Ayjh9=FNOT Ignoring new targets: 130.21 m.RhE,l:ZhE,l:u ProNav: ac range: 130.213837 m, nav range: 123.020958 m, bearing: 280.357641 deg, approach rate: -0.518853 m/s, LOS rate: 0.051619 deg/s, cmd heading: 270.566660 deg, new cmd heading: 270.645559 deg. Bhu ;}HeadingCmd: 4.723656 target range: 130.213837 and range: 128.10 m.h}1(@hy*hy"hy hygfffdddjdZd@颕:|Bɢp_) >ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266962)1iԄ iǿX<'}I1(@I!@ @@1@@@gAE7 E=E*E"Em;*E;VE(N4ZEBEq e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519616AAIYIqO}> ,PU3?A:@:@:ٱ:` BAHRS rotation from veh to nav: [[-0.022094,0.988440,0.149996],[-0.999070,-0.027386,0.033310],[0.037033,-0.149121,0.988125]]:H@П@L?3?@a2 ??dÿ?i:@I:_];8YJa}ByNIiMb@Mb@Mb@ 9&1?Mb~jt?Y?yD<VAi A)YQAbDVDy=R=%*=ٔ8:Q->9Y=dFy6DH;E>Q 544뚊?Q 94&)MBY?Q E:yGͿQ I?vCI:i: 4yBɮJ(A E%B*** querying acoustic contact ***i! i!jh15FNOT Ignoring new targets: 130.21 m.Rh=.:Zh=.:M ProNav: ac range: 130.213837 m, nav range: 122.762764 m, bearing: 280.383794 deg, approach rate: -0.633849 m/s, LOS rate: 0.064338 deg/s, cmd heading: 270.645563 deg, new cmd heading: 270.724186 deg. BhM0;UHeadingCmd: 4.725029 target range: 130.213837 and range: 128.10 m.hUo3@hQ*hQ"hQ hQgQfYfYf]B}BdadadajdaZdm@t@颕8|BɢT:) >i)ɛ顙ioiqǿYW<5@nIo3@I]9@Y @Y@]d4@Yԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771055^AD <D <E 0 E E ,E "E Jg;*E :VE g4ZE a @a @a @a @A I I O- >k7 , o3?A23/@2)@2Qqٱ2 :AHRS rotation from veh to nav: [[-0.019750,0.989159,0.145513],[-0.999139,-0.024837,0.033223],[0.036477,-0.144731,0.988798]]2HZ9@1?(?`n ??¿9pYp=rdFyr>Dv;Ev>xQ 5z4zꚊ?Q 9~4z)zMBY|y~̿Q I~?zCIz];iz;zG4y ɮ 'A jh15FNOT Ignoring new targets: 130.21 m.Rh= :Zh= :M ProNav: ac range: 130.213837 m, nav range: 122.558418 m, bearing: 280.404347 deg, approach rate: -0.553304 m/s, LOS rate: 0.055745 deg/s, cmd heading: 270.724192 deg, new cmd heading: 270.785954 deg. BhM;UHeadingCmd: 4.726107 target range: 130.213837 and range: 128.10 m.hUD<@hQ*hQ"hQ hQgQfYfYfYdadadajdaZdm` @颽5|Bɢ;) >i)әioi[NǿW<\ID<@I BDAT read: Rx Time:04:10:52.4031 TRx dataTimestamp_ set to:1761538253.802153Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.034096u9@q @q@u/@qBAAE4=BM>BM0CBMIBM}BBM =BIBMDBM|;BMC4E^Azl1 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275050A I I! O- >Y S ,3?A2C@2>@2 ٱ2 :AHRS rotation from veh to nav: [[-0.017240,0.989774,0.141600],[-0.999216,-0.022105,0.032855],[0.035649,-0.140922,0.989379]]2HI :?? lҠ?`@? ¿`?i2C@I2];2CEB4 EBIEB+E@"EBj;*EB ;VEB [4ZE@BEB9Y=dFyGD;E>Q 54y隊?Q 94)MBY3 ?Q E:yпQ I?CI7 ;i ;4yɮP'A!9jhqFNOT Ignoring new targets: 130.21 m.Rhف:Zhف: ProNav: ac range: 130.213837 m, nav range: 122.324844 m, bearing: 280.431143 deg, approach rate: -0.493832 m/s, LOS rate: 0.056761 deg/s, cmd heading: 270.785964 deg, new cmd heading: 270.866506 deg. Bh;HeadingCmd: 4.727512 target range: 130.213837 and range: 128.10 m.hG@h*h"h hgff)f-b}Bd)d)d1jd1Zd5 ~@}3|Bɢ}};) 8>i)閼iniJ ǿU<BOIG@I5DAT read: 04:10:52.4031 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 403, 0.33,-1.719, 2.694,-1.813,-2.022, PHS= 0.405,-1.522, 0.165, RAW= 143.4, 10.5, CAL= 143.0, 11.4, ROT= 7.0, -11.4 =Ygot valid direction response: 04:10:52.4031 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 403, 0.33,-1.719, 2.694,-1.813,-2.022, PHS= 0.405,-1.522, 0.165, RAW= 143.4, 10.5, CAL= 143.0, 11.4, ROT= 7.0, -11.4 MPDAT read: Bearing 73.3, 6.9 (Local) M~Local bearing/azimuth received: Bearing 73.3, 6.9 (Local) UDAT read: Range 11 to 50 : 125.8 m (Round-trip 167.8 ms) speed 0.2 m/s ]R#Rx 1: Read range and direction messages.ae\direction in FSK: [0.972964,0.119465,0.197657]mFpublishing direction and range infoy  _3"?#3B?g4L?Y B     ) I )\>i ¿ (> - @ f;> @ %K>) 5=I %K   `u?/?ۀ]J? r>) !^;I 5=i %K  T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.9@9 @9@=/@9@E=@E=ԑ^A= wAA zAA Թ  (DAT read: user:78>  BDAT read: Tx time:04:10:53.6311  $Ping request sent.  ,Pp3?AIv@q@KHٱՎ AHRS rotation from veh to nav: [[-0.010997,0.990618,0.136220],[-0.999386,-0.015421,0.031460],[0.033266,-0.135790,0.990179]]H#?o?` 䔏 ?`;?a?iv@I];CY}ByIbDVD:yʘ=%7=ٔC;Q->9 ?Y ?=dFyPDte<E>Q 54c蚊?Q 94j)MBYyϿQ I?CI:i1:"4y ɮ &A iiLm3?AJiBRiBji{7@bw$U w^@a-@a68@R_3"?#3B?g4L?Zi5=bi%Kj~}/0@9P^2:@Z]e9?Rι>?2i:iنA"i,xt?*i1BiBEM3 EM8EIEI"EMj;*EM ;VEIZEIaU@aU@a]@a]@iv?iii Bi{@ addTargetRange:: Added new target pos. range: 125.800003 m, deltaT: 3.780024 s, deltaX: -2.300003 m, approachRate: -0.608463 m/s, rangeRepo size: 4 % Added new target pos. range: 125.260460 m, bearing: 277.914475 deg, lat: 36.779478 deg, lon: -121.859533 deg, deltaT: 7.812195 s, deltaX: -4.953377 m, approachRate: -0.634057 m/s, posRepo size: 4 jh!%FNOT Ignoring new targets: 125.26 m.Rh-Zh)m ProNav: ac range: 125.260460 m, nav range: 122.021286 m, bearing: 280.292470 deg, approach rate: 0.000000 m/s, LOS rate: 0.056761 deg/s, cmd heading: 270.866506 deg, new cmd heading: 270.940947 deg. BhiuHeadingCmd: 4.728812 target range: 125.260460 and range: 125.80 m.humR@hy*hy"hy hygfffdddjd@3s_@ZdH?y颽0|Bɢ%<) ]>i)Qieiƿ0U<5 ImR@Ii@q @q@u/@qiIAchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250502ԡB >B 1CB IB }BB =B B B ~|;B B4E^A NJN A I I O% >z< ,3?A2̐@2@2qdٱ2 :AHRS rotation from veh to nav: [[-0.007847,0.990989,0.133712],[-0.999463,-0.012028,0.030495],[0.031829,-0.133401,0.990551]]2H .?z?@T:?K?G?i2̐@I24];2CY^}By^IliEMb@Mb@Mb@AAAA A9Ep= ף?Qy&1|?YE?yEAEVAE/@ Aechecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502252)ExAAYAbDmVDmy}1%}C=ٔa;Q->9Y=dFyXD;E>Q 54;皊?Q 94 )MBYZ?Q E:y(ѿQ I?CIAp;i;*4yɮ'AjhFNOT Ignoring new targets: 125.26 m.RhG:ZhG: ProNav: ac range: 125.260460 m, nav range: 121.810051 m, bearing: 280.317087 deg, approach rate: -0.499042 m/s, LOS rate: 0.058260 deg/s, cmd heading: 270.940955 deg, new cmd heading: 271.014936 deg. Bh; HeadingCmd: 4.730103 target range: 125.260460 and range: 125.80 m.h]@h*h"h hgfffq}Bdd!d!jd!Zd%`?颕.|BɢT<) >i)顙iihƿT<#I]@I bE [4jEY4rE5/E= E2E(E"Es;*E;VEc44ZEBEd ,3?A2S@2@2}ٱ2'C :AHRS rotation from veh to nav: [[-0.004976,0.991127,0.132826],[-0.999516,-0.009007,0.029762],[0.030695,-0.132614,0.990692]]2HbtO?`r? Nr`z?@tn? }?i2S@I25];2CYB}ByBIbDJVDJܲyRˤ=%RY=ٔVE;Q-V>9V"?YV"?=VdFyV`DZ_;EZ>\Q 5b4^<暊?Q 9b4^B)^MBY`yfпQ If?^CI^;i^:^04yhɮj&Ah9B*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 125.26 m.Rhr:Zhr: ProNav: ac range: 125.260460 m, nav range: 121.620163 m, bearing: 280.339022 deg, approach rate: -0.523109 m/s, LOS rate: 0.060520 deg/s, cmd heading: 271.014939 deg, new cmd heading: 271.080846 deg. Bh#&;HeadingCmd: 4.731253 target range: 125.260460 and range: 125.80 m.hmf@h*h"h hgfffdddjdZd`q?-|BɢP<)7 E>i) BiJiƿbS<I mf@I I)gA@ @@0@@gA@cAuchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006863yԑE0 E1E*E"EJg;*Ef;VE(N4ZEa@a@a@a@^AAA>A .AI I O > % checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258168? ,3?A2F@2@2Tٱ2Z >AHRS rotation from veh to nav: [[-0.001932,0.991138,0.132822],[-0.999565,-0.005823,0.028908],[0.029425,-0.132708,0.990718]]2H_ g?@N?pw?`!??i2F@I2L];2CYDyFIIJ=)JM?bDNVDN:2yVo ;%VJ=ٔZhM;Q-Z>9Z ?YZ ?=^dFy^hD^G;E^>`Q 5f4b7嚊?Q 9f4b̳)bMBYhyjfпQ Ij?bCIb[:ib:b74ynBɮn8&ArEjh FNOT Ignoring new targets: 125.26 m.Rh %:Zh %: ProNav: ac range: 125.260460 m, nav range: 121.415138 m, bearing: 280.362470 deg, approach rate: -0.530940 m/s, LOS rate: 0.060826 deg/s, cmd heading: 271.080837 deg, new cmd heading: 271.151302 deg. Bh%&;%HeadingCmd: 4.732483 target range: 125.260460 and range: 125.80 m.h-p@h)*h)"h) h)g)f)f1f1d1d1ԙdjdZd@'6?+|Bɢ&8<)  >i ) ň  i i5j}ƿ5QfS<=7HI=p@I9A@AAB >BB3IB}BBBBDB|;B^4EB0CB.CB—CB¯ =Bµ =C)759@9 @9@=?0@Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.511354^A`ԻE 5 E )E -E "E k;*E 0;VE t4ZE BE  v ,Q4?A2ڏ@2Ֆ@2ٱ2 :AHRS rotation from veh to nav: [[0.001197,0.991099,0.133121],[-0.999606,-0.002549,0.027962],[0.028052,-0.133102,0.990705]]2H֛S?? ? @d??@y ۳?i2ڏ@I2];2CYN}ByRIi%Mb@Mb@Mb@!!!! !9%{Gz? rhMbP?Y%?y%C %:%(A%E@ %1A)%A!Y%\AbDVDβy-c%;=ٔNN;Q->9"?Y"?=dFyqD;E>Q 54䚊?Q 94)MBY ?Q E:y>ѿQ I?iq)uĉqqi}i}Qƿ}R<YMI{@IiIAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.7707959@ @@5@!I^AU3A I I  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.022509O y ,a(4?A6@6]@6׼ٱ6O= BAHRS rotation from veh to nav: [[0.004573,0.990907,0.134469],[-0.999643,0.000989,0.026708],[0.026332,-0.134543,0.990558]]6H@ƺr? ? H6?@2P?HY? ?8`?i6@I6l];6CYJ}ByJ IbDRVDRkyZ %Z\=ٔZ;Q-^>9\Y\=^dFybxDb<Eb>dQ 5j4f㚊?Q 9j4f)fMBYhyjпQ In?fTCIf:if:fE4ypɮrp&Apjh  FNOT Ignoring new targets: 125.26 m.Rh>:Zh>:% ProNav: ac range: 125.260460 m, nav range: 121.010460 m, bearing: 280.410016 deg, approach rate: -0.501690 m/s, LOS rate: 0.058682 deg/s, cmd heading: 271.228779 deg, new cmd heading: 271.294176 deg. Bh%!;-HeadingCmd: 4.734977 target range: 125.260460 and range: 125.80 m.h-@h)*h)"h1 h1g1f1f1f9d9d9dAjdAZdE @Ee+ Ee*Ee,Ea"Eeb;*Ee;VEeg4ZEaam@am@am@am@颅)|Bɢ0QI<) >i)T顉i1 i+ƿgR<L%I@IYԁ>i%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274151q@y @y@}0@y@=@=ԱB >B2CB9IB~BBBBB&};B4E^A yb] A > 4= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.528216I IO5>w ,'F4?A6@6 @6Uʼٱ66 BAHRS rotation from veh to nav: [[0.007793,0.990938,0.134092],[-0.999664,0.004403,0.025561],[0.024739,-0.134246,0.990639]]6H? ĵ?)?`>`r?,?@!U?.Q?i6@I6?q];6CYJ}ByJIl ||iMb@Mb@Mb@ 9K7A`?ˡE9Y=dFyD;E>Q 54sᚊ?Q 94Ž)MBYl ?Q E:yѿQ I?wCI ;i:N4yɮd&Ajh FNOT Ignoring new targets: 125.26 m.Rh:Zh:% ProNav: ac range: 125.260460 m, nav range: 120.747818 m, bearing: 280.441946 deg, approach rate: -0.527394 m/s, LOS rate: 0.064255 deg/s, cmd heading: 271.294185 deg, new cmd heading: 271.390182 deg. Bh%d0;E: E(E*E"E\p;*E;VE(N4ZEBEniq)u$qqiu"i}ſ}Q<}%SI}@Iԅq@q @q@}a4@yA]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778591^A] NJκa A I I O >x ,La4?ATYz}ByzIbDVDy%J=ٔQ->9!Y!=%dFy%D%E->)Q 554-+?Q 9=4-˽)-MBY9y9Q I=?-CI-z;i-:-U4yAɮM&AImB*** querying acoustic contact ***ii iijhFNOT Ignoring new targets: 125.26 m.Rh:Zh: ProNav: ac range: 125.260460 m, nav range: 120.534691 m, bearing: 280.467960 deg, approach rate: -0.522305 m/s, LOS rate: 0.063866 deg/s, cmd heading: 271.390190 deg, new cmd heading: 271.468371 deg. BhR/;HeadingCmd: 4.738017 target range: 125.260460 and range: 125.80 m.h֝@h*h"h hgfffdddjdZdCA @BDAT read: Rx Time:04:10:56.2005 %TRx dataTimestamp_ set to:1761538257.589607checking for new query: numPingsReceived=0, elapsed TxPingTime=3.045460 g>CG)A}A9yY}1Aɢ{ <)  >i)Ci<$iſLSQ<׺I֝@I    E1 EE.E"E2h;*E:VEـ4ZEa @a @a @a @E 9@A  @A @E f0@A @M fA@M hA checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282401 BQ AU <BU >BQ BU -IBU }BBQ BQ BQ BU $~;BU 5E^AM 9I AIIO%? ,94?A(9@N4@سٱ_ 5AHRS rotation from veh to nav: [[0.012742,0.990972,0.133460],[-0.999673,0.009665,0.023682],[0.022179,-0.133719,0.990771]]H ?@ ?;?Q`˃?.@??e?i9@-DAT read: 04:10:56.2005 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 409, 0.22,-2.496, 1.960,-2.545,-2.754, PHS= 0.360,-1.524, 0.165, RAW= 144.6, 11.1, CAL= 144.2, 12.1, ROT= 5.8, -12.1 5Ygot valid direction response: 04:10:56.2005 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 409, 0.22,-2.496, 1.960,-2.545,-2.754, PHS= 0.360,-1.524, 0.165, RAW= 144.6, 11.1, CAL= 144.2, 12.1, ROT= 5.8, -12.1 =PDAT read: Bearing 75.7, 5.4 (Local) =~Local bearing/azimuth received: Bearing 75.7, 5.4 (Local) EDAT read: Range 11 to 50 : 123.9 m (Round-trip 165.3 ms) speed 0.5 m/s MR#Rx 1: Read range and direction messages.U\direction in FSK: [0.972778,0.098811,0.209619]UFpublishing direction and range infoyIqI ];CM0A ?b#K?9h?YMBIIII I)MEIMQ>iMoÿIM!@MaF>M!@ M@X>)M4Q=IM@XIIMQ>?p@#?xf :? M>)MGIM4Q=iM@XIIT****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.E5+ E5E5+E1"E5b;*E5:VE5 [4ZE1BE59Y=dFyDEb;EM>IQ 5U4Mߚ?Q 9]4M=ֽ)IY]?Q E]:y]]ͿQ I]?MCIMO;iM:;Ma4yBɮ&AEԡiIiM4?AJiMBRiMBjiMX@bM^@*a(@W@q9@RM0A ?b#K?9h?ZiM4Q=biM@XjMЩ1@d]Bxq:@ZM?R 8e?2iM}:iM}A"iM|?*iMrBiMBiM9Δ?iM6iMBiM BiMB@m addTargetRange:: Added new target pos. range: 123.900002 m, deltaT: 3.788614 s, deltaX: -1.900002 m, approachRate: -0.501503 m/s, rangeRepo size: 4  Added new target pos. range: 123.372200 m, bearing: 278.142487 deg, lat: 36.779464 deg, lon: -121.859535 deg, deltaT: 3.788614 s, deltaX: -1.888260 m, approachRate: -0.498404 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 123.37 m.RhZh ProNav: ac range: 123.372200 m, nav range: 120.020157 m, bearing: 279.779153 deg, approach rate: 0.000000 m/s, LOS rate: 0.063866 deg/s, cmd heading: 271.468382 deg, new cmd heading: 271.606532 deg. BhHeadingCmd: 4.740428 target range: 123.372200 and range: 123.90 m.h@h*h"h hgfff }Bd d d jd ^@Zd ^b?额&|BɢL;) >i)Tz顡iO'i yſǢP<1:I@(DAT read: user:79>  BDAT read: Tx time:04:10:57.5311  $Ping request sent. AHRS rotation from veh to nav: [[0.016214,0.990686,0.135199],[-0.999694,0.013533,0.020724],[0.018701,-0.135494,0.990602]]6Ho??4N?}a?@8?`_&?W`?i6U@I6v];6CYF_}ByFIbDRVDRyZ%ZK=ٔ^{ 9\Y\=^dFybDb<Eb>dQ 5j4fqޚ?Q 9j4fIܽ)dYlyn̿Q In?fCIf:if:fh4ypɮr'Apjh FNOT Ignoring new targets: 123.37 m.Rh:Zh:% ProNav: ac range: 123.372200 m, nav range: 119.794724 m, bearing: 279.801106 deg, approach rate: -0.607110 m/s, LOS rate: 0.059232 deg/s, cmd heading: 271.606543 deg, new cmd heading: 271.672526 deg. Bh%";-HeadingCmd: 4.741580 target range: 123.372200 and range: 123.90 m.h-@h)*h1"h1 h1g1f1f9f9d9d9d9jdAZdE|?ԩDzD?AE4 E!E*E"Ej;*E:VE(N4ZEa@a@a@a@%|Bɢ;) >i)|vi(iTSſ=BMPB) B- IB- }BB) B) B) B- h;B- 5EA5 .A9 IA IQ Oe >k}0 , 4?AM<[@MV@MuٱM} mAHRS rotation from veh to nav: [[0.016858,0.990418,0.137070],[-0.999707,0.014318,0.019494],[0.017345,-0.137359,0.990369]]MH@C???`R?C?@‘? @?iM<[@IM];MCYV}ByIchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754741iUMb@Mb@Mb@QQQQ Q9U?{Gzt/$YU ?yUףUUAUE@ Q)UAQYUfAbDmVDm1y%+=ٔ:;Q->9 ?Y  ?= dFy D g:E >Q 54ޚ?Q 94%)MBY% ?Q E%:y%ȿQ I%? CI#:i ;q4y)ɮ-'A1jhQ]FNOT Ignoring new targets: 123.37 m.Rh]/d:Zh]/d:m ProNav: ac range: 123.372200 m, nav range: 119.500114 m, bearing: 279.824878 deg, approach rate: -0.616582 m/s, LOS rate: 0.049874 deg/s, cmd heading: 271.672523 deg, new cmd heading: 271.744014 deg. Bhu;uHeadingCmd: 4.742828 target range: 123.372200 and range: 123.90 m.hu?ŗ@hy*hy"hy hygyfyff|BdddjdZd?颹ɢ;) Ƙ>i)%ri)io*ſ~O<c:I?ŗ@II)fAE + E &E ,E "E b;*E ;VE g4ZE BE a2E aJE ,Z6 ,N4?A2]@2X@2 ٱ2E :AHRS rotation from veh to nav: [[0.017166,0.990428,0.136957],[-0.999717,0.014742,0.018692],[0.016494,-0.137239,0.990401]]2H??χ?O1? $?`? \?i2]@I29s];2CYB?}ByBI DDbDNVDN0yV%Vy=ٔV);Q-V?9XYX=ZdFyZD^}v:E^?`Q 5f4bޚ?Q 9f4b)bMBYdyfwȿQ If?b%CIb:ib;bv4ylɮn(Aljh FNOT Ignoring new targets: 123.37 m.Rh Fd:Zh Fd: ProNav: ac range: 123.372200 m, nav range: 119.297798 m, bearing: 279.841240 deg, approach rate: -0.615887 m/s, LOS rate: 0.049894 deg/s, cmd heading: 271.744021 deg, new cmd heading: 271.793191 deg. Bh%;%HeadingCmd: 4.743686 target range: 123.372200 and range: 123.90 m.h%G̗@h)*h)"h) h)g)f)f1f1d1d1d9jd9Zd=&?ɢ;) >i)  o  i +*iNſO<]:IG̗@Ii@ @@M4@%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258688ԑ^AD%=DE%' E%'E%*E!"E% _;*E%";VE%(N4ZE!a5@a5@a5@a5@A ؟AI I O > < ,4?A6W@6~R@67zٱ6t >AHRS rotation from veh to nav: [[0.016428,0.990348,0.137626],[-0.999748,0.014168,0.017389],[0.015271,-0.137877,0.990332]]6HҐ?@? ?`?vΑ?F? ̰?Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510739i6W@I6Qk];6CYn&}ByrIbDzVDz1ys%E=ٔzA;Q- >9 "?Y "?= dFy DE>Q 5%4ޚ?Q 9%4X)MBY)y-ȿQ I-?FCI:ig:~4y5Bɮ5&(A5EUB*** querying acoustic contact ***iQ iQjhaeFNOT Ignoring new targets: 123.37 m.Rhm,f:Zhm,f:} ProNav: ac range: 123.372200 m, nav range: 119.042702 m, bearing: 279.862047 deg, approach rate: -0.615452 m/s, LOS rate: 0.050308 deg/s, cmd heading: 271.793199 deg, new cmd heading: 271.855755 deg. Bh} ;HeadingCmd: 4.744778 target range: 123.372200 and range: 123.90 m.h9՗@h*h"h hgfffdddjdZd?ɢQ;) o>i)ki,+iĿa/O<жI9՗@IAAAA@AB>BBIB}BB =BBB3;B;6Eu9@q @q@u/@q)^Ae9=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762953I Aa Iq I O >bE|a4jE2`4rE١/E% , E% E% ,E! "E% c;*E% :VE% g4ZE! BE% uL@2ögٱ2' >AHRS rotation from veh to nav: [[0.015666,0.990160,0.139061],[-0.999777,0.013545,0.016185],[0.014142,-0.139284,0.990152]]2H ?c??,`Y? ϒ? ? @R?i2uQ@I2tz];2CYDyDi Mb@Mb@Mb@     9 }?5^I?Mbp?y&1Y M"?y ; `e  A  A) bA Y AbD%VD%0y5:%5G=ٔ=4;Q-E>9AYA=EdFyEDM-EM>QQ 54U!ߚ?Q 94U4)UMBYX"?Q E:yƿQ I?UgCIUiy)}|Ahyyi}6,iĿvN<Izݗ@Iqchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.015533-9@) @)@-/@)@5gA@5fAԙ^AMqAU>AU> A I I O >E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266616I ,'j)5?AJE@J?@Jj\ٱJP VAHRS rotation from veh to nav: [[0.014154,0.990080,0.139789],[-0.999810,0.012136,0.015280],[0.013432,-0.139979,0.990063]]JH ???pڈ?\K?w?`?iJE@IJ@^];HYZ1}By^IIbx>)b>bDfVDfynH<%nP=ٔrI:Q-r>9pYp=vdFyvDv|Ev>xQ 5~4z~ߚ?Q 9~4z)zMBYyƿQ I?zCIz;iz;z4y ɮ 'A jh15FNOT Ignoring new targets: 123.37 m.Rh=b:Zh=b:U ProNav: ac range: 123.372200 m, nav range: 118.539368 m, bearing: 279.899819 deg, approach rate: -0.653601 m/s, LOS rate: 0.049510 deg/s, cmd heading: 271.913492 deg, new cmd heading: 271.969309 deg. BhU;mHeadingCmd: 4.746760 target range: 123.372200 and range: 123.90 m.hmu@hi*hi"hi higqfqfyfydyddjdZd@E* E%E+E"Ea;*E;VE [4ZEa@a@a@a@}&|Bɢ<;) >i)d顁i-iĿ&N<Iu@IM9@I @I@I@IiߙIߙchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519013^A B>B1CBIBf}BB =BBDB;B6EB2CB2CBȓCBȭ =Bȭ =Cѫ5! I I O >rP ,LC5?A2@-@Uٱ . AHRS rotation from veh to nav: [[0.011917,0.990192,0.139205],[-0.999844,0.009984,0.014575],[0.013043,-0.139357,0.990156]]H@g?য?@y?@gr?ٍ?@?s@\?i2@Iv];CY&}ByIchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770742iMMb@Mb@Mb@IIII I9M@5^I ?{Gz?MbYMb0?yM#9yY=dFyDE>Q 54%?Q 94)Yj0?Q E:yſQ I?CI:i': 4yɮ$(AjhFNOT Ignoring new targets: 123.37 m.Rha:Zha: ProNav: ac range: 123.372200 m, nav range: 118.227890 m, bearing: 279.922340 deg, approach rate: -0.681371 m/s, LOS rate: 0.049396 deg/s, cmd heading: 271.969308 deg, new cmd heading: 272.037050 deg. Bh;HeadingCmd: 4.747942 target range: 123.372200 and range: 123.90 m.h$@h*h"h hgfff|BdddjdZd`v@ɢԟ7;) >i)ai.iڂĿuM<ݻI$@)IE E=E*E"E*E;VE(N4ZEBEV ,6 ]5?AY~*}By~IbD VD y)1<%%c=ٔ%Q-%>9!Y)=-dFy-D-E->1YQ 5}45?Q 9}45 )1YyyyQ I?5CI5i)>^i%2/i%EdĿ-qL<-I-@I)9@ @@[0@@=@=ԉ^A0AzAgA BDAT read: Rx Time:04:11:00.0971 TRx dataTimestamp_ set to:1761538261.620272checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275854I)I9OM1>ԱE/ E2EE"Eaf;*E;VEZEa@a@a@a@ ] ,vv5?A6checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526614YE,}ByEI aabDVD1y?G;%@=ٔQ->B=A<9Y=dFyDB>B0CE>Q 54Tᚊ?Q 9%4)Y!y!Q I%?CI-:i:w4BIBG}BB =BBDB;B6EyMBɮU'AUEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 123.37 m.Rh+d:Zh+d: ProNav: ac range: 123.372200 m, nav range: 117.665665 m, bearing: 279.963297 deg, approach rate: -0.681309 m/s, LOS rate: 0.049870 deg/s, cmd heading: 272.090530 deg, new cmd heading: 272.160217 deg. Bh;HeadingCmd: 4.750092 target range: 123.372200 and range: 123.90 m.h@h*h"h hgfffddd)jd)Zd-9@额(|Bɢ"5;) >i)4Z顡i-0i5h<Ŀ5d L<53I=@I@ @@/@]DAT read: 04:11:00.0971 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 406, 0.02, 1.472,-0.304, 1.452, 1.245, PHS= 0.329,-1.504, 0.163, RAW= 145.3, 11.5, CAL= 144.9, 12.6, ROT= 5.1, -12.6 eYgot valid direction response: 04:11:00.0971 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 406, 0.02, 1.472,-0.304, 1.452, 1.245, PHS= 0.329,-1.504, 0.163, RAW= 145.3, 11.5, CAL= 144.9, 12.6, ROT= 5.1, -12.6 mPDAT read: Bearing 76.5, 3.8 (Local) m~Local bearing/azimuth received: Bearing 76.5, 3.8 (Local) uDAT read: Range 11 to 50 : 121.4 m (Round-trip 161.9 ms) speed 0.6 m/s }R#Rx 1: Read range and direction messages.\direction in FSK: [0.972053,0.086753,0.218143]Fpublishing direction and range infoyF@? y5?'$?YB )AIr>iy&>:M"@M>!@ z0a>)K=Iz0ac~$X?)BMIK=iz0aT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.E 9 E 'E E "E so;*E ";VE ZE BE ?,d ,5?A2o@28@2-ٱ20X :AHRS rotation from veh to nav: [[0.005411,0.989235,0.146235],[-0.999929,0.003802,0.011279],[0.010602,-0.146286,0.989186]]2H)v?`Ч?ӷ?`k%o??`?|¿h?i2o@I2f];2CYBG}ByBIi Mb@Mb@Mb@     9 ʡE?Mbp?y&1|?Y -2?y ; `; (A @ A) A Y AbD%VD%Ny5N=%5O=ٔ=;Q-=>99Y9==dFy=DE:EE>IQ 5U4Mᚊ?Q 9U4M{)MMBY]02?Q E]:y]tǿQ I]?MCIMX:iM:M4yaɮeH'Aiii5?AJiBRiBji՚@b:6y `]@ʵ*$@Jp^:@RF@? y5?'$?ZiK=biz0ajB1߮.-@0} I]20ۡ9@Z3`๑{?r߽ HP?2iO:imA"iNHƟ?*i$Bi;Bi|?iriBiBio@U addTargetRange:: Added new target pos. range: 121.400002 m, deltaT: 4.031534 s, deltaX: -2.500000 m, approachRate: -0.620111 m/s, rangeRepo size: 4 a Added new target pos. range: 120.878838 m, bearing: 277.231513 deg, lat: 36.779435 deg, lon: -121.859546 deg, deltaT: 4.031534 s, deltaX: -2.493362 m, approachRate: -0.618465 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 120.88 m.RhZh ProNav: ac range: 120.878838 m, nav range: 117.848534 m, bearing: 278.309529 deg, approach rate: 0.000000 m/s, LOS rate: 0.049870 deg/s, cmd heading: 272.160226 deg, new cmd heading: 272.215840 deg. BhHeadingCmd: 4.751063 target range: 120.878838 and range: 121.40 m.h@h*h"h hgfff|BdddjdY^@Zd7?%(DAT read: user:80> -BDAT read: Tx time:04:11:01.4811 -$Ping request sent.-i)V顩ij1iĿy@K<ՆyI@Iq@q @q@u4@yԑԹ^A  I I) O5 > G checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251405  d9! Y% A Lj ,]45?A2^@2'@2Pٱ22: >AHRS rotation from veh to nav: [[0.003938,0.989112,0.147109],[-0.999948,0.002509,0.009895],[0.009418,-0.147140,0.989071]]2HB!p?@Ϧ?v?d?C?`I? }¿w?i2^@I2_];0YR}By IbD%VD%:y=Q<%=K=ٔE@;Q-E>9IYI=MdFyMDU(oEU>aQ 5m4eᚊ?Q 9u4e")eMBYqyuǿQ Iu?DyzD}@AE5 E/E(E"Ek;*EY;VEc44ZEa@a@a@a@ei1)=bXS99i=C2iEÿElJEchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502839B=>B9B=IB=Q}BB= =B9B9B=7;B=67E) :q ,(5?ALLchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.755188Q@@ ٱ? AHRS rotation from veh to nav: [[0.002955,0.989153,0.146858],[-0.999960,0.001687,0.008760],[0.008417,-0.146878,0.989119]]H 5h?$? :?[?`?9Y=dFyDoE>Q 54⚊?Q 94*)MBY+?Q E:y ȿQ I?bCI:i/:4yɮ'A!jhiuFNOT Ignoring new targets: 120.88 m.RhuH:ZhuH: ProNav: ac range: 120.878838 m, nav range: 117.271889 m, bearing: 278.347946 deg, approach rate: -0.648250 m/s, LOS rate: 0.043886 deg/s, cmd heading: 272.270929 deg, new cmd heading: 272.331375 deg. Bh:HeadingCmd: 4.753079 target range: 120.878838 and range: 121.40 m.h9@h*h"h hgfff|BdddjdZd0W?-,|Bɢ-";)1 5>i1)5N11i=-3E@ E;EE"Eu;*E ;VEZEBE!w ,F5?A>N@>@>Lٱ>%R FAHRS rotation from veh to nav: [[0.003564,0.989242,0.146244],[-0.999965,0.002424,0.007973],[0.007533,-0.146267,0.989216]]>H@2m? ߧ?? c? T?`v~?߸¿@?i>N@I>G];>CYNs}ByNIbDVVDV02y^=%ba=ٔbs;Q-b>9dYd=fdFyfDf:Ef>hQ 5n4j;⚊?Q 9r4j41)jMBYpyrǿQ Ir?jCIj:ij1:j4yvBɮzC&AzƢEjhFNOT Ignoring new targets: 120.88 m.Rh%RW:Zh%RW:5 ProNav: ac range: 120.878838 m, nav range: 117.030373 m, bearing: 278.364260 deg, approach rate: -0.695260 m/s, LOS rate: 0.047062 deg/s, cmd heading: 272.331363 deg, new cmd heading: 272.380407 deg. Bh51;=HeadingCmd: 4.753935 target range: 120.878838 and range: 121.40 m.h=< @h9*h9"h9 h9g9fAfAfAdAdIdIjdIZdM ?}-|Bɢ}C<)y }>iy)$PK顁i4i|ÿmH<^I< @I%9@) @)@-/@)^A(-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263624A1IAIYOmV>EA E5E+E"Ev;*E ;VE [4ZEa@a@a@a@A  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510823y} ,g5?A:A@: @:8Իٱ: BAHRS rotation from veh to nav: [[0.004656,0.989601,0.143763],[-0.999968,0.003677,0.007079],[0.006476,-0.143791,0.989587]]:HUs? Ъ?f?@`cn?s|?`z?g¿?i:A@I:i^;:CYJ}ByJIbDVVDVk2yZ?=%ZK=ٔ^P,;Q-^>9`Y`=bdFyb Db 2;Ef>dQ 5j4fs⚊?Q 9n4fJ8)f NBYlynǿQ In?fCIf;if;fĝ4ytɮv%Atjh FNOT Ignoring new targets: 120.88 m.RhBE/CBEIBEz}BBE =BABEDBE;BE7EfYfYdadadajdaZde 8C? /|BɢfeF<) >i)ZfFi5i%ÿ%aG<%PI%'@I)u>iu%>Q-9@) @)@-/@)@1@5=ԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762822^A5mԩ E B E E )E "E w;*E @;VE FA4ZE BE  ,}6?A2@2l@2Cﲻٱ2[: :AHRS rotation from veh to nav: [[0.006779,0.989942,0.141309],[-0.999962,0.005939,0.006364],[0.005461,-0.141347,0.989945]]2H@{??l?4Sx?z? ]v?¿@?i2@I2w^;2C@YF}ByFIiEMb@Mb@Mb@AAAA A9E)\(?~jt?YEG!?yEDE9u ?Yu ?=udFyuD}ע;E}>Q 54M⚊?Q 94]?)NBYo!?Q E:yɿQ I?CI:i:i̝4yɮ|%AB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 120.88 m.RhW:ZhW: ProNav: ac range: 120.878838 m, nav range: 116.497513 m, bearing: 278.402372 deg, approach rate: -0.621644 m/s, LOS rate: 0.047177 deg/s, cmd heading: 272.434471 deg, new cmd heading: 272.495008 deg. Bh;HeadingCmd: 4.755935 target range: 120.878838 and range: 121.40 m.h0@h*h"h hgfff4}BdddjdZd"@-1|Bɢ5]Z<}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015225)1 ҹ>i)݋A顱ik6i|ÿ[F<ÌI0@IԱ9@ @@/@^A 5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267966A= ؟AII IY Om > ,-6?AJ@J@JGٱJ4J RAHRS rotation from veh to nav: [[0.008786,0.990193,0.139427],[-0.999949,0.008018,0.006069],[0.004891,-0.139474,0.990214]]JH\?੯?@?`k?x?`t?Eԯ?iJ@IJe^;JCYZ}ByZID\zD^?AEb7 EbCEb*E`"Ebm;*Eb;VEb(N4ZE`aj@aj@aj@aj@lbDvVDvyz>=%zR=ٔ~:Q-~>9"?Y"?=dFyD ;E > Q 54 5⚊?Q 94 E) "NBYyɿQ I? CI /;i ; 5ӝ4y!ɮ-$A)jhIUFNOT Ignoring new targets: 120.88 m.RhUV:Zh]V:m ProNav: ac range: 120.878838 m, nav range: 116.255219 m, bearing: 278.420564 deg, approach rate: -0.623771 m/s, LOS rate: 0.046933 deg/s, cmd heading: 272.495014 deg, new cmd heading: 272.549705 deg. Bhm;uHeadingCmd: 4.756890 target range: 120.878838 and range: 121.40 m.huq8@hq*hq"hq hqgqfyfyfydddjdZd @颵3|Bɢ<) *>i){s<项i'-7i]ÿ|E<@Iq8@IQ@Q @Q@UD1@Q checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5188709^A=eBM>BM+CBMIBM}BBM =BIBMDBMց;BM7EIQ Ia Om >i ӑ ,mG6?Azchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.772699a,@'@/ٱs AHRS rotation from veh to nav: [[0.011203,0.990208,0.139153],[-0.999928,0.010511,0.005705],[0.004187,-0.139207,0.990254]]H?ǯ??j`?7^w?%q?@ *?i,@I+/^;CY}ByIi-Mb@Mb@Mb@)))) )9-i|?5?~jt:v?Y-?y)-<-A-E@ ))-A)Y)bDEVDE:yU<%U6=ٔU:Q-U>9YYY=]dFy]&D];Ee>aQ 5m4e#⚊?Q 9u4eL)e0NBYu?Q Eu:yu|ɿQ Iu?eCIe& ;ie ;e ۝4yɮ$AjhFNOT Ignoring new targets: 120.88 m.Rh@:Zh@: ProNav: ac range: 120.878838 m, nav range: 116.002861 m, bearing: 278.439438 deg, approach rate: -0.561869 m/s, LOS rate: 0.042113 deg/s, cmd heading: 272.549710 deg, new cmd heading: 272.606454 deg. Bh7:MHeadingCmd: 4.757880 target range: 120.878838 and range: 121.40 m.hM@@hI*hI"hI hIgQfQfQfUd}BdYdYdYjdYZd]+@bEU(N4jEUÔK4rEUL/E3 E5E+E"Ej;*E ;VE [4ZEBEi )86i\8i4=ÿgD<HzI@@I!ԁ1@9 @9@=_0@9@EfA@EhAԩBDAT read: Rx Time:04:11:04.0438 TRx dataTimestamp_ set to:1761538265.403789checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027570^AE mAM >AM > I9 II OU >y ,a6?A2SH@2C@2lٱ2$ :AHRS rotation from veh to nav: [[0.014552,0.990283,0.138301],[-0.999888,0.013913,0.005588],[0.003610,-0.138367,0.990375]]2Hh͍?f?`س?`9~?v?Nm? %?i2SH@I2];2CYB}ByB+IIF >)F=bDnVDnk1yv=%vd=ٔv:Q-z>9xYx=~dFy~-D~<E~>Q 5 4#⚊?Q 94Q);NBYyɿQ I?!CIm;it;R4y5wBɮ=#A=ТEjhFNOT Ignoring new targets: 120.88 m.RhW9:ZhW9:Ա ProNav: ac range: 120.878838 m, nav range: 115.800850 m, bearing: 278.454268 deg, approach rate: -0.550852 m/s, LOS rate: 0.040509 deg/s, cmd heading: 272.606456 deg, new cmd heading: 272.651023 deg. Bhh:HeadingCmd: 4.758658 target range: 120.878838 and range: 121.40 m.hF@h*h"h hgfffdddjdZd @颭8|Bɢ<) >i)U21顱iZ9i#ÿ;C<-VIF@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.2749789@9 @9@E4@AD=D4=E8 E>E*E"En;*E?;VE(N4ZEa@a@a@a@ ^Ae I I O >9  DAT read: 04:11:04.0438 LVL= 29888, 32753, 32754, 32755, AGC= 69, IDX= 404,-0.12, 0.666,-1.162, 0.668, 0.436, PHS= 0.332,-1.553, 0.188, RAW= 146.1, 11.4, CAL= 145.7, 12.4, ROT= 4.3, -12.4  Ygot valid direction response: 04:11:04.0438 LVL= 29888, 32753, 32754, 32755, AGC= 69, IDX= 404,-0.12, 0.666,-1.162, 0.668, 0.436, PHS= 0.332,-1.553, 0.188, RAW= 146.1, 11.4, CAL= 145.7, 12.4, ROT= 4.3, -12.4  PDAT read: Bearing 77.5, 2.2 (Local)  ~Local bearing/azimuth received: Bearing 77.5, 2.2 (Local)  DAT read: Range 11 to 50 : 118.8 m (Round-trip 158.5 ms) speed 0.9 m/s  R#Rx 1: Read range and direction messages.% \direction in FSK: [0.973923,0.073230,0.214735]- Fpublishing direction and range infoy  `*?nӟ-?h`r|?% ,;V{6?AYBt )EI>iƿ@>1#@%K>"@ k]>)`=Ik]4%2.?? P8? >)KI`=ik]:T****** received valid address query ******:R****** received valid ping request ******>Querying Benthos address 50 with one ping in standard two-way mode.Br<Ar<Bv>Bv(CBv'IBv}BBv =BtBvDBv;Bv7EB/CB-CBCB =B =C6 )c@ ]@ Oٱ  EAHRS rotation from veh to nav: [[0.017828,0.990419,0.136940],[-0.999836,0.017225,0.005586],[0.003173,-0.137017,0.990564]] HwA? ?9Y=dFy6D;E>Q 543⚊?Q 943X)HNBYyȿQ I??CI(i!)%*顁i!:iÿB<9IN@II@ @@4@(DAT read: user:81> -BDAT read: Tx time:04:11:05.2311 -$Ping request sent.-ԙ ,16?A6?@6{@6"ٱ6s >AHRS rotation from veh to nav: [[0.021378,0.990654,0.134712],[-0.999768,0.020848,0.005344],[0.002486,-0.134795,0.990870]]6H@ ?`p?>>?@Y?u?@]d?@5?i6?@I6*];4YR}ByR1Ii%Mb@Mb@Mb@!!!! !9% rh?X9vI +?Y%C ?y%%99YYY=]dFy]>D]<Ee>aQ 5m4eᚊ?Q 9u4e])eSNBYu ?Q Eu:yu̿Q Iu?e[CIe ;ieG ;e4yɮ#AB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 118.27 m.Rhm:Zhm: ProNav: ac range: 118.274742 m, nav range: 115.409897 m, bearing: 278.438830 deg, approach rate: -0.585077 m/s, LOS rate: 0.051916 deg/s, cmd heading: 272.705302 deg, new cmd heading: 272.762185 deg. Bh;HeadingCmd: 4.760598 target range: 118.274742 and range: 118.80 m.hV@h*h"h hgfff}BdddjdZd\7?]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246232q颭=|Bɢvj<) !>i)Ha%i;i%¿;'B<IV@I@ @@/@@=@=ԡ^A9AzAhAIQ Ia Om > checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498121 7 ,0 6?A2@2l@2ٱ2  :AHRS rotation from veh to nav: [[0.024842,0.991013,0.131441],[-0.999690,0.024384,0.005096],[0.001845,-0.131526,0.991311]]2HNp?@`?@ ? u$?t?!;^?Ѹ?i2@I2L];0YB~ByBBI DDbDJ ER= ERAER*EP"ERs;*ER;VER(N4ZEPaV@aZ@aZ@aZ@VDJ:2y^=%^T=ٔb:Q-b>9`Yd=fdFyfFDfb<Ef>hQ 5n4j2ᚊ?Q 9n4jmc)j]NBYpyrm̿Q Ir?jvCIj#;ij;j`4ytɮvc#AxjhFNOT Ignoring new targets: 118.27 m.RhV:Zh%V:- ProNav: ac range: 118.274742 m, nav range: 115.203232 m, bearing: 278.456850 deg, approach rate: -0.537182 m/s, LOS rate: 0.046925 deg/s, cmd heading: 272.762184 deg, new cmd heading: 272.816343 deg. Bh5;5HeadingCmd: 4.761543 target range: 118.274742 and range: 118.80 m.h5^@h9*h9"h9 h9g9fAfAfAdAdIdIjdIZdM ?@|Bɢ<) >i)i3=i,¿ՍA< )I ^@I 9@ @@@iaIeAmchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.750357B>B,CB@IB~BB =BBDB9;B!8E^AIIO>) " ,6?A nchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.004490YM~ByM5IiMb@Mb@Mb@ 9K7A`?X9vY ?y?A@ )AYQAbDVDy 4% *=ٔ Q- >9Y=dFyODE>Q 5-4?Q 9-4Ij)`NBY5; ?Q E5:y5ͿQ I5?CI);i(;4y9ɮ=#A9jhaimFNOT Ignoring new targets: 118.27 m.Rhur]:Zhur]: ProNav: ac range: 118.274742 m, nav range: 114.946419 m, bearing: 278.480049 deg, approach rate: -0.534607 m/s, LOS rate: 0.048401 deg/s, cmd heading: 272.816334 deg, new cmd heading: 272.886085 deg. Bh;HeadingCmd: 4.762761 target range: 118.274742 and range: 118.80 m.hh@h*h"h hgfff}BdddjdZd?E; E)E/E"EDq;*E0;VEJ4ZEBE6>i)iz>iG¿@<Ih@IU9@Y @Y@Y@Yԑmchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.254114 ^A= Am .AIy I O >m ,Z6?A9m ?Ym ?=udFyuWDu<Eu>yQ 54}?Q 94}ko)}aNBYyU̿Q I?}CI}W:i}0;}4yɮ#AjhFNOT Ignoring new targets: 118.27 m.Rh.W:Zh.W: ProNav: ac range: 118.274742 m, nav range: 114.754219 m, bearing: 278.496874 deg, approach rate: -0.536379 m/s, LOS rate: 0.047031 deg/s, cmd heading: 272.886083 deg, new cmd heading: 272.936641 deg. Bh;HeadingCmd: 4.763643 target range: 118.274742 and range: 118.80 m.ho@h*h"h hgfffd dd jdZd-'z?]IGq ɬ9 Y !Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.506336ԡeG|BɢeƩ<)i m>ii)mqqiuA?iZ¿3@<YuIo@IQ@Q @Q@U/@Q@Y@]fAE6 E3E*E"El;*Et ;VE(N4ZEa@a@a@a@ ^A} A >A >= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758156A ؟AI I O >ƾ ,+6?AA.@AA.@AB2>B2+CB2FIB2~BB2 =B0B2DB2/;B28E)Z>bD^VD^ 3yfW<%fN=ٔj;Q-j>9n"?Yn"?=ndFyn_Dn;En>pQ 5v4rߚ?Q 9v4ru)rcNBYQyU̿Q IU?rCIrfi) 顉i@i`¿?<:NIw@IԡA@I @I@M?0@Q^A=3]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014330QAIIO>E% 8 E% (E% (E! "E% n;*E% ;VE% c44ZE! BE% ܾ9yYy=}dFy}gD;E>Q 54Uߚ?Q 94z)Y?Q E:iߙIߝAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.262476yH˿Q I?CIq|;i{;]4yɮ#AB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 118.27 m.RhN:ZhN: ProNav: ac range: 118.274742 m, nav range: 114.321198 m, bearing: 278.533783 deg, approach rate: -0.537820 m/s, LOS rate: 0.045235 deg/s, cmd heading: 272.991979 deg, new cmd heading: 273.047600 deg. BhZ:HeadingCmd: 4.765580 target range: 118.274742 and range: 118.80 m.h@h*h"h hgff f }Bd d d jdZd D@=N|Bɢ=<)A E>iA)EAAiM$AiM@¿MP? D9 zD= @AEA  EE 3EE *EA "EA *EE t ;VEE (N4ZEA aM @aM @aM @aM @? ,b17?AYj}Byj(IbDrVDr1yz6%zR=ٔ~Q-~>9Y=dFyoDE > Q 54 ߚ?Q 94 \) dNBYyQ I? CI ;i n; '4y!ɮ-#A)jhIUFNOT Ignoring new targets: 118.27 m.RhUQJ:Zh]QJ:e ProNav: ac range: 118.274742 m, nav range: 114.118996 m, bearing: 278.550820 deg, approach rate: -0.523895 m/s, LOS rate: 0.044220 deg/s, cmd heading: 273.047604 deg, new cmd heading: 273.098805 deg. Bhm:mHeadingCmd: 4.766473 target range: 118.274742 and range: 118.80 m.hm@hq*hq"hq hqgqfyfyfydyddjdZd`Z@颭R|Bɢ<) >Թi)w项i!Bi#¿><LI@Im9@q @q@u/@q@}=@}>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766189Be>Be)CBe@IBe~BBe =BaBeDBe;Be7E^A+AzAfAA I I O >A u BDAT read: Rx Time:04:11:07.7911  TRx dataTimestamp_ set to:1761538269.183889 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024453. ,XL7?A>;ɰ<@@R:ٱj? AHRS rotation from veh to nav: [[0.039782,0.989024,0.142297],[-0.999207,0.039646,0.003792],[-0.001891,-0.142335,0.989817]]H[^?@?6? L?@vo? ^`8¿@?i@IY];CY}By iEMb@Mb@Mb@AAAA A9Ekt?9Y=dFyyD <E>Q 54*ߚ?Q 94Z)`NBY8?Q E:yOȿQ I?%CIi);i~(;f"4yɮ#AjhFNOT Ignoring new targets: 118.27 m.Rh%z9:Zh%z9:5 ProNav: ac range: 118.274742 m, nav range: 113.855873 m, bearing: 278.569933 deg, approach rate: -0.556822 m/s, LOS rate: 0.040539 deg/s, cmd heading: 273.098803 deg, new cmd heading: 273.156272 deg. Bh5:=HeadingCmd: 4.767476 target range: 118.274742 and range: 118.80 m.h=*@h9*h9"h9 hAgAfAfAfM}BdIdIdIjdIZdU # @}V|Bɢ}:<) u>i)V顁iCi¿v`><I*@I@ @@@mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.270222!^A= _Q Ai Iy I O > ,J'f7?A$@~@j ;ٱE6 AHRS rotation from veh to nav: [[0.041443,0.988819,0.143244],[-0.999138,0.041367,0.003514],[-0.002451,-0.143267,0.989681]]H 8?@h?U?.?`l?Kd@V¿w?i$@Ik];CY}ByIbDVDkyBa%T=ٔ:Q->9Y=dFyD ;E> Q 54Mߚ?Q 94)]NBYyȿQ I?@CI,;i%-; )4y!ɮ%$A!jhIUFNOT Ignoring new targets: 118.27 m.RhU$8:ZhU$8:e ProNav: ac range: 118.274742 m, nav range: 113.643547 m, bearing: 278.585239 deg, approach rate: -0.557251 m/s, LOS rate: 0.040247 deg/s, cmd heading: 273.156258 deg, new cmd heading: 273.202264 deg. Bhe:mHeadingCmd: 4.768279 target range: 118.274742 and range: 118.80 m.hm@hq*hq"hq hqgqfqfyfydydydjdZd.@DAT read: 04:11:07.7911 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 408, 0.01,-2.214, 2.319,-2.153,-2.342, PHS= 0.230,-1.576, 0.145, RAW= 147.6, 13.5, CAL= 147.5, 14.9, ROT= 2.5, -14.9 Ygot valid direction response: 04:11:07.7911 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 408, 0.01,-2.214, 2.319,-2.153,-2.342, PHS= 0.230,-1.576, 0.145, RAW= 147.6, 13.5, CAL= 147.5, 14.9, ROT= 2.5, -14.9 PDAT read: Bearing 81.3, 0.1 (Local) ~Local bearing/azimuth received: Bearing 81.3, 0.1 (Local) uDAT read: Range 11 to 50 : 116.8 m (Round-trip 155.8 ms) speed 0.4 m/s }R#Rx 1: Read range and direction messages.\direction in FSK: [0.965456,0.042153,0.257133]Fpublishing direction and range infoy?" ?Fht?YB )FIk>i^ɿz>$@:Fq>S$@ %>Z|BɢRk<) >i)oi}D)¸2=I%3';ő?v,e|?&b? >)cqI¸2=i% T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.i%u%Z=<%;39I%@I)9EG EE+E"E&|;*EVE [4ZEa@a@a@a@@ @@/@i^A 9e (DAT read: user:82> m BDAT read: Tx time:04:11:09.0311 u $Ping request sent.u B (CB 3IB }BB =B B B ;B 7EA I I) O= >4 ,`7?ARs,@R<'@R4;ٱR ^AHRS rotation from veh to nav: [[0.042387,0.988855,0.142717],[-0.999097,0.042346,0.003332],[-0.002748,-0.142729,0.989758]]RHγ?@?D?@`P?jLk?qf@D¿?iRs,@IR ];PY5}By5IbDEVDE:yU%UW=ٔUL:Q-]>9YYY=]dFy]De";Ee>iQ 54mtߚ?Q 94m)mZNBYyǿQ I?m\CIm;im;m/4ycBɮ#AEiiIk7?AJiBRiBji@bJ%\@[YW@@NKd=@R?" ?Fht?Zi¸2=bi%j+@_L[m<@ZY?<ȽqWw?2i:i]A"iq}p?*iVBiBiNHƟ?iiԉiGBiE@ addTargetRange:: Added new target pos. range: 116.800003 m, deltaT: 3.778256 s, deltaX: -2.000000 m, approachRate: -0.529345 m/s, rangeRepo size: 4  Added new target pos. range: 116.282204 m, bearing: 277.069911 deg, lat: 36.779415 deg, lon: -121.859547 deg, deltaT: 3.778256 s, deltaX: -1.992538 m, approachRate: -0.527370 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 116.28 m.RhZhM ProNav: ac range: 116.282204 m, nav range: 113.140289 m, bearing: 277.563292 deg, approach rate: 0.000000 m/s, LOS rate: 0.040247 deg/s, cmd heading: 273.202267 deg, new cmd heading: 273.252536 deg. BhIUHeadingCmd: 4.769156 target range: 116.282204 and range: 116.80 m.hU@hQ*hQ"hQ hQgQfYfYfYdYddjd@33]@Zd`'.?_|Bɢ>a<) ַ>i))=saAAiE8QEi}X=<K8I@ԹIchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.252508I9)9@ @@/@bEIjEMR4rEM0E: E1E(E"E\p;*Ef;VEc44ZEBEm9= ?YE ?=EdFyEDE :EE>Q 54Z?Q 94)XNBY:?Q E:yĿQ I?CI;i;84yɮ>$AmB*** querying acoustic contact ***ii iijhy}FNOT Ignoring new targets: 116.28 m.Rhg:Zhg: ProNav: ac range: 116.282204 m, nav range: 112.837730 m, bearing: 277.578220 deg, approach rate: -0.602660 m/s, LOS rate: 0.029813 deg/s, cmd heading: 273.252537 deg, new cmd heading: 273.297439 deg. Bh:HeadingCmd: 4.769940 target range: 116.282204 and range: 116.80 m.hZ@h*h"h hgfff}BdddjdZd ȥ?}e|Bɢ$pg<) W>i)Eۻ顉i Fi=<ǹIZ@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754678q@q @q@q@qDzDE E)E&E"E*E0;VE4ZEa@a@a@a@ ^A "95 PExceeded connect timeout, disconnecting.I A ؟AI I O= >xa  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006224,3Q7?A6T2@6-@65>;ٱ6M BAHRS rotation from veh to nav: [[0.043104,0.988788,0.142967],[-0.999066,0.043076,0.003293],[-0.002902,-0.142976,0.989722]]6H ?`'? L?Z?`j?g M¿@ͫ?i6T2@I6c];6CYJ}ByJ IbDRVDRyZ{~<%ZD=ٔ^}9Q-^>9^"?Y^"?=^dFy^Db:Eb>dQ 5j4f ᚊ?Q 9j4f)fVNBYhynĿQ In?fCIf):ifB:f?4ypɮr$$Apjh FNOT Ignoring new targets: 116.28 m.Rh:Zh:- ProNav: ac range: 116.282204 m, nav range: 112.606781 m, bearing: 277.589620 deg, approach rate: -0.596560 m/s, LOS rate: 0.029507 deg/s, cmd heading: 273.297452 deg, new cmd heading: 273.331722 deg. Bh-:-HeadingCmd: 4.770538 target range: 116.282204 and range: 116.80 m.h5@@h1*h1"h1 h1g1f1f9f9d9dAdAjdAZdE?B>B'CB'IB}BB =BBDB;Bu7EBM)CBM)CBMCBM =BM =CMX6-i|Bɢ-ɒ<)1 5>i1)5ӻ119i5Fi]jeϺ< %< ,7?A2t6@2=1@2G;ٱ2 :AHRS rotation from veh to nav: [[0.043607,0.988740,0.143151],[-0.999044,0.043595,0.003228],[-0.003049,-0.143155,0.989696]]2HS??R?@+` R?pj?h@R¿@?i2t6@I2];2CYB}ByB Ii Mb@Mb@Mb@     9 ~jt?MbMbY ?y    \@ A) GA Y QAbD%VD%Ny-˻%5D=ٔ5"9Q-5>91Y=dFyD:E>Q 54ᚊ?Q 94)RNBY?Q E:ybſQ I?CI:i:jG4yɮ.$Ajh!-FNOT Ignoring new targets: 116.28 m.Rh-:Zh5:E ProNav: ac range: 116.282204 m, nav range: 112.345749 m, bearing: 277.603479 deg, approach rate: -0.598029 m/s, LOS rate: 0.031827 deg/s, cmd heading: 273.331712 deg, new cmd heading: 273.373389 deg. BhE:MHeadingCmd: 4.771266 target range: 116.282204 and range: 116.80 m.hM5@hI*hI"hI hIgIfQfQfU}BdYdYdYjdYZde@?颍n|Bɢ'<) >i)ʻ顑i|Gi=R<<(BI5@Ip>i!>5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.5100989@ @@@@=@=Yԉ ^A% 8 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763374AU .AIa Iq O} >z ,%7?A>5@>0@>uX;ٱ>, FAHRS rotation from veh to nav: [[0.043523,0.988600,0.144137],[-0.999047,0.043545,0.003008],[-0.003303,-0.144130,0.989553]]>H H??@s?@1wK?h?k r¿`k?i>5@I>N];9f ?Yf ?=fdFyfDfiEj>lQ 5r4n=⚊?Q 9r4n)nONBYpyrfſQ Ir?nCIn:in:n N4ytɮz$AxjhFNOT Ignoring new targets: 116.28 m.Rh%:Zh%:5 ProNav: ac range: 116.282204 m, nav range: 112.116066 m, bearing: 277.615740 deg, approach rate: -0.612980 m/s, LOS rate: 0.032787 deg/s, cmd heading: 273.373376 deg, new cmd heading: 273.410232 deg. Bh5:=HeadingCmd: 4.771909 target range: 116.282204 and range: 116.80 m.h=z@h9*h9"h9 h9gAfAfAfAdIdIdIjdIE]N E]BE]'EY"E]@;*E]Z;VE]'4ZEYae@ae@ae@ae@Zde`@颕s|Bɢ<{<) >i)MQûIIiM|HiUqU;Bu(CBuIBu}BBu =BqBuDBuP;Bu$7E^AΒ{ A ؟AI I O >], 8?A22@2-@2Y_;ٱ2 JAHRS rotation from veh to nav: [[0.043179,0.988400,0.145604],[-0.999062,0.043215,0.002918],[-0.003408,-0.145593,0.989339]]2H?? $?O@G ?g?/kˢ¿?i22@I2[J];2CPYV}ByVIbDbVDbyf0<%jJ=ٔj99Q-j>9j"?Yn"?=ndFynDr^Er>Q 54⚊?Q 9%46)KNBY)y-qſQ I5?CI;i5;.U4checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269721yUZBɮ($A%EjhYeFNOT Ignoring new targets: 116.28 m.Rhe9Zhe9 ProNav: ac range: 116.282204 m, nav range: 111.869453 m, bearing: 277.629006 deg, approach rate: -0.517054 m/s, LOS rate: 0.027875 deg/s, cmd heading: 273.410232 deg, new cmd heading: 273.450118 deg. Bh :HeadingCmd: 4.772605 target range: 116.282204 and range: 116.80 m.h.@h*h"h hgfffd d d jd Zd@Em< Em5Em*Ei"Em,r;*Em ;VEm(N4ZEiBEmi)i'HieZeZ;v,9%8?AYv}By~IuXG9YAiMb@Mb@Mb@ 9On?y&1|Mbp?Y?y`廙;?A xA)AYAbDVDy <%"=ٔQ->9Y=dFyDE>Q 54㚊?Q 94)MNBY ?Q E :y ĿQ I ?%CI ;i90;]4yɮ%$A!AUB*** querying acoustic contact ***iQ iQjhimFNOT Ignoring new targets: 116.28 m.Rhup!:Zhup!: ProNav: ac range: 116.282204 m, nav range: 111.573418 m, bearing: 277.644349 deg, approach rate: -0.678990 m/s, LOS rate: 0.035285 deg/s, cmd heading: 273.450120 deg, new cmd heading: 273.496273 deg. Bh:checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770924HeadingCmd: 4.773410 target range: 116.282204 and range: 116.80 m.hǿ@h*h"h hgfffq}BdddjdZd >@|Bɢzy<) >i!)%|!!i%VIi-N@- :<-ίAI5ǿ@II@I @I@M0@I@UfA@QqEC EDE+E"Ex;*Eh;VE [4ZEa@a@a@a@ԑ ^Am "5U BDAT read: Rx Time:04:11:11.5881 U TRx dataTimestamp_ set to:1761538272.960074] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023104B >B 'CB IB }BB =B B DB ;B 6E A9 II IY Oe >o,xA8?A6;@66@6d˔;ٱ63 BAHRS rotation from veh to nav: [[0.044249,0.988688,0.143314],[-0.999010,0.044443,0.001849],[-0.004541,-0.143254,0.989676]]6H@ڧ? T?@X?@D?M^?@hr"V¿ l?i6;@I6+];6CYF}ByFIbDVD0y%%K=ٔ<8;Q->9Y=dFyD?.;E>Q 54S䚊?Q 94Y¾)NNBYyĿQ I?DCI;i;d4yɮ#$Ajh!%FNOT Ignoring new targets: 116.28 m.Rhm>:Zhm>:} ProNav: ac range: 116.282204 m, nav range: 111.334412 m, bearing: 277.656666 deg, approach rate: -0.601985 m/s, LOS rate: 0.031090 deg/s, cmd heading: 273.496265 deg, new cmd heading: 273.533296 deg. Bh}:}HeadingCmd: 4.774056 target range: 116.282204 and range: 116.80 m.hŘ@h*h"h hgfffdddjdZd[o @ԩ|Bɢu<) >i )   i Ii!+tk:<M#IŘ@I9@ @@4@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274554EJ E>E)E"E~;*E?;VEFA4ZEBE1 Q,[8?A%DAT read: 04:11:11.5881 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 410, 0.24,-1.274,-3.081,-1.204,-1.477, PHS= 0.305,-1.560, 0.229, RAW= 147.9, 11.2, CAL= 147.7, 12.3, ROT= 2.3, -12.3 5Ygot valid direction response: 04:11:11.5881 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 410, 0.24,-1.274,-3.081,-1.204,-1.477, PHS= 0.305,-1.560, 0.229, RAW= 147.9, 11.2, CAL= 147.7, 12.3, ROT= 2.3, -12.3 =PDAT read: Bearing 79.4, -0.1 (Local) =~Local bearing/azimuth received: Bearing 79.4, -0.1 (Local) EDAT read: Range 11 to 50 : 114.6 m (Round-trip 152.9 ms) speed 0.5 m/s MR#Rx 1: Read range and direction messages.U\direction in FSK: [0.976258,0.039211,0.213030]UFpublishing direction and range infoy|~Yb=?i?AzUmD?Y~3B|||| |)~CI~(>i~ǿ~~j>~4%@~+H>~$@ ~[>)~l$=I~[||~NJb?qi?)s? ~K>)~OHI~l$=i~[||uT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. YM}ByMIi Mb@Mb@Mb@     9 bX9?{Gz99YQ=UdFyUD]E]>aQ 5m4e嚊?Q 9m4eZʾ)eRNBYuO?Q Eu:yuEſQ Iu?ekCIe:ieU:en4yyɮ}6$Ai|i~]8?AJi~.BRi~.Bji~z@b~s[@}Ї@w3TN8@R~Yb=?i?AzUmD?Zi~l$=bi~[j~6e)@ȧ6[5Z?,A6@Z~wЉ̼?j6$G*0?2i~:i~[MA"i~F?*i~o.2Bi~Bi~4?i~$i~;Bi~Bi~ٚ@  addTargetRange:: Added new target pos. range: 114.599998 m, deltaT: 3.779984 s, deltaX: -2.200005 m, approachRate: -0.582014 m/s, rangeRepo size: 4 - Added new target pos. range: 114.090759 m, bearing: 276.594078 deg, lat: 36.779408 deg, lon: -121.859552 deg, deltaT: 3.779984 s, deltaX: -2.191444 m, approachRate: -0.579750 m/s, posRepo size: 4 jh195FNOT Ignoring new targets: 114.09 m.RhuZhy ProNav: ac range: 114.090759 m, nav range: 111.399300 m, bearing: 277.259230 deg, approach rate: 0.000000 m/s, LOS rate: 0.031090 deg/s, cmd heading: 273.533285 deg, new cmd heading: 273.582818 deg. BhHeadingCmd: 4.774921 target range: 114.090759 and range: 114.60 m.h'̘@h*h"h hgfff~}Bdddjd`f\@ZdJ?-|Bɢ5?@<)1 5Z>i1)5O19i=eJi=E9 BDAT read: Tx time:04:11:12.7811 $Ping request sent.AHRS rotation from veh to nav: [[0.044245,0.988492,0.144657],[-0.999008,0.044519,0.001343],[-0.005112,-0.144573,0.989481]]6H`F?@?`?2˦?V?Ft]¿ө?i6;@I6.];6CYF}ByFIbDNVDNyVau%Vc=ٔV:Q-Z>9XYX=^dFy^D^IE^>`Q 5f4b嚊?Q 9f4bϾ)bUNBnchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.249328YlylQ In?bCIbh;ibpi;b>t4ytɮv$AtjhFNOT Ignoring new targets: 114.09 m.RhV :ZhV :- ProNav: ac range: 114.090759 m, nav range: 111.190727 m, bearing: 277.269695 deg, approach rate: -0.601501 m/s, LOS rate: 0.030236 deg/s, cmd heading: 273.582817 deg, new cmd heading: 273.614271 deg. Bh5:5HeadingCmd: 4.775470 target range: 114.090759 and range: 114.60 m.h5И@h9*h9"h9 h9g9f9fAfAdAdAdIjdIZdM?B>BBIB}BB =B?DBBǀ;B6EU|BɢUvMp<)Q U>iY)]YYi]JieeW9E} ^ E} KE} +Ey "E} ;*E} ;VE} [4ZEy BE} 9IYI=MdFyMDMeGEM>QQ 54U嚊?Q 94U־)UXNBY?Q E:yƿQ I?UCIUi)顉iqKir 8<㛻I֘@IiIchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754385i@i @i@m/@i^AII O >!  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005812Vf+,cЯ8?AB@@Bo;@B$;ٱBi NAHRS rotation from veh to nav: [[0.044850,0.988337,0.145530],[-0.998973,0.045301,0.000213],[-0.006382,-0.145390,0.989354]]BH?@t? ?1?+?$z'¿@ɨ?iB@@IB7];BCYV}ByVIbD^VD^yf =%fR=ٔfe;Q-j>9hYh=jdFyjDn;En>pQ 5v4r^暊?Q 9v4rܾ)r[NBYtyvƿQ Iz?rCIrB:ir:rh4|y|ɮ$$AB*** querying acoustic contact ***i ijh)-FNOT Ignoring new targets: 114.09 m.Rh5 :Zh5 :E ProNav: ac range: 114.090759 m, nav range: 110.707077 m, bearing: 277.296917 deg, approach rate: -0.624211 m/s, LOS rate: 0.035131 deg/s, cmd heading: 273.656884 deg, new cmd heading: 273.696103 deg. BhE:MHeadingCmd: 4.776898 target range: 114.090759 and range: 114.60 m.hMZܘ@hI*hI"hI hQgQfQfQfYdYdadajdaZdeC?颕|Bɢ_]<) N|>i)Ʀ顙ijKiHT8<aIZܘ@ID1zD5AAEEM EEJEE(EA"EEˀ;*EE;VEEc44ZEAaM@aM@aM@aM@@ @@@)checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257092Q^AB>BBIB}BB =BBB;Bd6EI9IIO]>ԁ N2,*8?A2=E@2@@2;ٱ2) :AHRS rotation from veh to nav: [[0.045410,0.988201,0.146277],[-0.998945,0.045929,-0.000173],[-0.006889,-0.146114,0.989244]]2H@??W?`0?Z?p& $8|`߳¿?i2=E@I2a;];0YBz}ByBIbDNVDN0yV%VL=ٔVH:Q-V>9XYX=ZdFyZDZ÷:E^>`Q 5f4b暊?Q 9f4b)b^NBYdyfƿQ If?bCIbW:ib :bd4yhɮn$AljhFNOT Ignoring new targets: 114.09 m.Rh :Zh :Y} ProNav: ac range: 114.090759 m, nav range: 110.468590 m, bearing: 277.310296 deg, approach rate: -0.598372 m/s, LOS rate: 0.033642 deg/s, cmd heading: 273.696117 deg, new cmd heading: 273.736342 deg. Bh}:HeadingCmd: 4.777600 target range: 114.090759 and range: 114.60 m.h@h*h"h hgfffdddjdZdR?%|Bɢ%b%<)! %V>i))-1؈))i-Kechecking for new query: numPingsReceived=0, elapsed TxPingTime=1.509299iem7< I@I@ @@@!ԑbE:4jE<4rE0EM= EM:EM*EI"EMs;*EM$ ;VEM(N4ZEIBEM checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761186 z8,ɏ8?A bM@bIH@bA;ٱba; nAHRS rotation from veh to nav: [[0.046417,0.987997,0.147337],[-0.998894,0.047014,-0.000574],[-0.007495,-0.147147,0.989086]]bHç?@?`?@H?B@~¿@?ibM@IbY];`Yv}ByvIIz>)z>~A~Ai}Mb@Mb@Mb@yyyy y9}7A`?{Gz?Y}?y}̼}#<}lAy }A)}AyY}AbDVD0yˉ<%;=ٔ:Q->9Y=dFyDԱd;E>Q 54暊?Q 94)bNBY?Q E:y-ȿQ I?CI:i]:4yɮ$AjhFNOT Ignoring new targets: 114.09 m.Rh (:Zh (: ProNav: ac range: 114.090759 m, nav range: 110.213173 m, bearing: 277.326397 deg, approach rate: -0.584045 m/s, LOS rate: 0.036902 deg/s, cmd heading: 273.736333 deg, new cmd heading: 273.784747 deg. Bh:%HeadingCmd: 4.778445 target range: 114.090759 and range: 114.60 m.h%@h!*h!"h! h!g)f)ff}BdddjdZdz@|Bɢ&<) W>i) ₻ )i-Ki5S587<5RMI5@I9@ @@/@mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.013728EU> EU3EU(EQ"EUs;*EUt ;VEUc44ZEQa]@a]@a]@a]@^AI I O >9 a>,ta8?Abchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.265183Yw}ByI ))bD5VD5yE?%EQ=ٔEQ-E>9IYI=MdFyMDUEU>YQ 5e4] 皊?Q 9e4])]fNBYayaQ Ie?]!CI]K:i]:]ؗ4yqɮu$AqB>B&CBIB}BB =BBDBm;B76EBe'CBe'CBeCBe =Be =Ce5jhy}FNOT Ignoring new targets: 114.09 m.Rh):Zh): ProNav: ac range: 114.090759 m, nav range: 109.985229 m, bearing: 277.340830 deg, approach rate: -0.584607 m/s, LOS rate: 0.037093 deg/s, cmd heading: 273.784745 deg, new cmd heading: 273.828133 deg. Bh:HeadingCmd: 4.779202 target range: 114.090759 and range: 114.60 m.h:@h*h"h hgfffdddjdZdө@|Bɢ &<)  =E>i) {iKi%%֮6<-I-:@I9A@ @@0@uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.517220y^A Em K Em >Em 'Ei "Em ;*Em ?;VEm '4ZEi BEm $E,<9?A2^@2Y@2'<ٱ2r :AHRS rotation from veh to nav: [[0.048517,0.987842,0.147700],[-0.998785,0.049266,-0.001417],[-0.008676,-0.147451,0.989031]]2H1ר?e??` h9?7W ā¿$?i2^@I2u];0Yn}ByIiMb@Mb@Mb@ 9v?V-~jth?Y?yD;A@ )YAbDVDy;%C=ٔ9;Q->9Y=dFy D;E>Q 54皊?Q 94[)gNBY?Q E:yȿQ I?ACI,;i.+;)4yHBɮ$AEjhqFNOT Ignoring new targets: 114.09 m.Rh}4:Zh}4: ProNav: ac range: 114.090759 m, nav range: 109.736969 m, bearing: 277.357359 deg, approach rate: -0.591859 m/s, LOS rate: 0.039497 deg/s, cmd heading: 273.828130 deg, new cmd heading: 273.877832 deg. Bh:HeadingCmd: 4.780070 target range: 114.090759 and range: 114.60 m.hU@h*h"h hgfff}BdddjdZd@=|Bɢ=o <)9 ER5>iA)E_ rAAiEKiMfchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.769212m+6<7IU@Ia@a @a@e0@aԡ^AM SI I O >߅ >߁  BDAT read: Rx Time:04:11:15.3351  TRx dataTimestamp_ set to:1761538276.740391 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022511 K,19?A2a@2d\@2D<ٱ2DŽ :AHRS rotation from veh to nav: [[0.048868,0.987828,0.147675],[-0.998767,0.049623,-0.001434],[-0.008744,-0.147422,0.989035]]2H2?I?`?@7h?}W聿@¿,?i2a@I2 +];2CYf}By I  AbDVDy-歼%-S=ٔ-h89Q-5>91Y1=5dFy5D=?n:E=>AQ 5M4E皊?Q 9M4Eo)AYIyMȿQ IU?E_CIE6:iE :E륞4yɮ$AB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 114.09 m.Rh/:Zh/: ProNav: ac range: 114.090759 m, nav range: 109.507683 m, bearing: 277.372650 deg, approach rate: -0.575207 m/s, LOS rate: 0.038440 deg/s, cmd heading: 273.877827 deg, new cmd heading: 273.923795 deg. Bh : HeadingCmd: 4.780872 target range: 114.090759 and range: 114.60 m.h @h *h "h  hgE@ EAE)E"Eu;*E;VEFA4ZEa%@a%@a%@a-@f)f)f)d1d1d1jd9Zd=@L @e|Bɢeh<)i mL&>ii)mSjiiim+KiuK}5<}EI}@Iy@ @@4@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273209B>BBIB}BB =BBBJ;B6E^A-IIO>) R,J9?A$vd@vn_@v<ٱv AHRS rotation from veh to nav: [[0.049238,0.987950,0.146730],[-0.998753,0.049924,-0.000992],[-0.008305,-0.146498,0.989176]]vH 5?J??`??P Ru¿`T?ivd@Iv7];vCY y%AA%@AbD%VD%k2ٔ=͍Q-=>99Y9==dFyEDEo:EE>IQ 5U4M&皊?Q 9U4M)MhNBYYy]ȿQ I]?M~CIM#;iM;M4yaɮaajhFNOT Ignoring new targets: 114.09 m.RhX;:ZhX;: ProNav: ac range: 114.090759 m, nav range: 109.267181 m, bearing: 277.388712 deg, approach rate: -0.611770 m/s, LOS rate: 0.040947 deg/s, cmd heading: 273.923808 deg, new cmd heading: 273.972100 deg. Bh:HeadingCmd: 4.781715 target range: 114.090759 and range: 114.60 m.h@heDAT read: 04:11:15.3351 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 412, 0.15,-0.790,-2.562,-0.754,-0.973, PHS= 0.285,-1.545, 0.174, RAW= 146.9, 12.2, CAL= 146.6, 13.4, ROT= 3.4, -13.4 mYgot valid direction response: 04:11:15.3351 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 412, 0.15,-0.790,-2.562,-0.754,-0.973, PHS= 0.285,-1.545, 0.174, RAW= 146.9, 12.2, CAL= 146.6, 13.4, ROT= 3.4, -13.4 uPDAT read: Bearing 81.4, 0.5 (Local) u~Local bearing/azimuth received: Bearing 81.4, 0.5 (Local) }DAT read: Range 11 to 50 : 112.5 m (Round-trip 150.0 ms) speed 0.5 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.971064,0.057692,0.231748]Fpublishing direction and range infoy15F?lj?] A?Y5B1111 1)5EI5>i5ſ5-2>5$@5^ Z>5#@ 5|o>)5s=I5|o115x? LM?%? 5_>)5(YI5s=i5|o11T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*h"h hgf)f1f9dAQdydjd \@ZdB ?E58 E5;E5*E1"E5n;*E5 ;VE5(N4ZE1BE5ܾi) _ilKi+05<0I@Iyy@y @y@}4@y@gA@ԡ  (DAT read: user:84>  BDAT read: Tx time:04:11:16.5810  $Ping request sent. A >IA IY Om >^X,e9?A,jg@jb@j<ٱjY rAHRS rotation from veh to nav: [[0.049618,0.988107,0.145544],[-0.998737,0.050242,-0.000615],[-0.007920,-0.145330,0.989352]]jH`~g??@2? V?(D`8,¿Ĩ?ijg@Ijb];jCYzQ}ByzI aaUR9QYU)Ay_?7AiMb@Mb@Mb@ 9^I +? rhYX?yC lAr@ )tAYAbDVD2y%<ٔ[ZQ->9Y=dFy#D`W:E>Q 54暊?Q 94 )Y?Q E:yɿQ I?CI:i/:4y ɮ %A iAiEKO9?AJiEBRiEBjiE\@bEOv0[@;q@>Yg9@REF?lj?] A?ZiEs=biE|ojE96/@&9['uw7@ZE ?l_7Tc IJ?2iE:iExA"iE?*iE";*BiEjBiAiE%iEBiE BiE@m addTargetRange:: Added new target pos. range: 112.500000 m, deltaT: 3.780014 s, deltaX: -2.099998 m, approachRate: -0.555553 m/s, rangeRepo size: 4  Added new target pos. range: 111.998055 m, bearing: 278.174385 deg, lat: 36.779408 deg, lon: -121.859552 deg, deltaT: 3.780014 s, deltaX: -2.092705 m, approachRate: -0.553624 m/s, posRepo size: 4 jh!-FNOT Ignoring new targets: 112.00 m.Rh5Zh1m ProNav: ac range: 111.998055 m, nav range: 109.026146 m, bearing: 277.406086 deg, approach rate: 0.000000 m/s, LOS rate: 0.040947 deg/s, cmd heading: 273.972111 deg, new cmd heading: 274.029534 deg. BhiuHeadingCmd: 4.782718 target range: 111.998055 and range: 112.50 m.h} @hy*hy"hy hygyfff}BdddjdZdTO?|BɢvA;) >i)x]YiK%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251006i-R-{4<-GI- @I19@ @@2@E< E@E+E"E,r;*EM;VE [4ZEa@a@a@a@ ^A <Ȼ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502894I1 II I O] >{C`, 9?AB>B'CBIBz}BB =B>DBDB";B5EY5>}By5IIE=)E;bDVDy;%J=ٔQ->9Y=dFy,DE>Q 54暊?Q 9 4)iNBY y Q I ?CI ;ie ;.4yABɮ %AEjh9EFNOT Ignoring new targets: 112.00 m.RhMvF:ZhMvF:] ProNav: ac range: 111.998055 m, nav range: 108.784828 m, bearing: 277.423441 deg, approach rate: -0.601826 m/s, LOS rate: 0.043377 deg/s, cmd heading: 274.029539 deg, new cmd heading: 274.081719 deg. Bh]':]HeadingCmd: 4.783628 target range: 111.998055 and range: 112.50 m.he|@ha*ha"ha hagafififididqdqjdqZduNS?颥|Bɢ,t;) ~=i)mT顩iaKi}񿿉3<rһI|@I!@! @!@%/@!I-checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754805^A[Rӻԩ E U E /E )E "E l;*E Y;VE FA4ZE BE 5ef,Қ9?A6l@6Hg@6;ٱ6LF@ BAHRS rotation from veh to nav: [[0.050196,0.988093,0.145441],[-0.998713,0.050727,0.000059],[-0.007319,-0.145256,0.989367]]6H@M?t?̝? t ?p&?`}`—¿?i6l@I6[];6CYHyHiMb@Mb@Mb@ 9v?S㥛~jthY?y/ݼDA )AY )-bD5VD50ٔEκQ-M>9IYI=MdFyM3DU0:EU>YQ 5e4]暊?Q 9e4])]gNBYm?Q Em:ymsȿQ Im?]CI]L:i]:]ž4yqɮyyjhFNOT Ignoring new targets: 112.00 m.Rh4:Zh4: ProNav: ac range: 111.998055 m, nav range: 108.558563 m, bearing: 277.438420 deg, approach rate: -0.593048 m/s, LOS rate: 0.039343 deg/s, cmd heading: 274.081722 deg, new cmd heading: 274.126753 deg. Bh:HeadingCmd: 4.784414 target range: 111.998055 and range: 112.50 m.h@h*h"h hgfff|}BdddjdZd ?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006987颭|Bɢ,^;) =i)Oi,Ki׿e3<nջI@IԱ9@ @@@@=@=^A`ԻAzAhAI9 II O] > M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258862+l,d9?AErM Er7Er*Ep"Erˀ;*Er ;VEr(N4ZEpav@av@av@av@xY~.}By~IbD VD 1yʧ%<ٔ%Q-%>9!Y!=%dFy%;D-E->1Q 5=45 皊?Q 9=45)5fNBY9yAQ IE?5CI5;i5H;5ɞ4yIɮMN%AIB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 112.00 m.Rh-:Zh -: ProNav: ac range: 111.998055 m, nav range: 108.322395 m, bearing: 277.454122 deg, approach rate: -0.567718 m/s, LOS rate: 0.037828 deg/s, cmd heading: 274.126746 deg, new cmd heading: 274.173954 deg. Bh:%HeadingCmd: 4.785238 target range: 111.998055 and range: 112.50 m.h% @h!*h!"h! h!g!f)f)f)d)d1d1jd1Zd= n?e|BɢeN:)e4 e=ii)m KiiimJiuu2a ws,9?A6@p@6 k@6c;ٱ6I >AHRS rotation from veh to nav: [[0.050654,0.988424,0.143009],[-0.998696,0.051042,0.000959],[-0.006351,-0.142872,0.989721]]6HT?,? "N?Q#"?HnO?zI¿ ˫?i6@p@I6];6CYF;}ByFI HJAbDRVDRJyZ=%ZQ=ٔZz"Q-Z>9\Y\=^dFy^CDbƙ:Eb>dQ 5j4f'皊?Q 9j4f")feNBYhyjdȿQ Ij?fCIfK:ifB:fО4ypɮr%Apchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763034jhFNOT Ignoring new targets: 112.00 m.Rh<:Zh%<:- ProNav: ac range: 111.998055 m, nav range: 108.090790 m, bearing: 277.469531 deg, approach rate: -0.618843 m/s, LOS rate: 0.041262 deg/s, cmd heading: 274.173957 deg, new cmd heading: 274.220284 deg. Bh5:5HeadingCmd: 4.786047 target range: 111.998055 and range: 112.50 m.h5L'@h99*h9"hA hAgAfAfAfIdIdIdIjdIZdU5@}|Bɢ}2';) =i)H顁iGJi:>A2<IL'@I1@9 @9@E1@AE : E GE E "E \p;*E ;VE ZE BE mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014885 %y,c9?A2Qp@2k@2%?;ٱ27 :AHRS rotation from veh to nav: [[0.050662,0.988574,0.141969],[-0.998698,0.050999,0.001266],[-0.005989,-0.141848,0.989870]]2Hh?e? ,?@U?bT?ۇx`(¿`?i2Qp@I2];2CYB6}ByBIi=Mb@Mb@Mb@9999 99=Cl? rh~jtxY=;?y=C=Ļ=A=@ =1A)99Y9U@AUAAbDUVDUyeF%m?=ٔm_^Q-m>9iYq=udFyuLDuB7Eu>yQ 54}皊?Q 94}))}bNBYL?Q E:y6ƿQ I?}A >Iy I O >  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518884A @AA B% >B! B% IB% Q}BB% =B% >DB! B% ;B% 5E",-?:?A%p@%sk@%u3;ٱ%L EAHRS rotation from veh to nav: [[0.050705,0.988635,0.141524],[-0.998697,0.051003,0.001523],[-0.005713,-0.141417,0.989934]]%H?? w? T` ? X?@ffw@¿@?i%p@I%Q];%CYU9}By]IbDmVDmky} <%}I=ٔ}1Q->9Y=dFyTD8E>Q 54!蚊?Q 940)_NBYy4ƿQ I?]CIf;i;3ߞ4y9Bɮ$AEjhFNOT Ignoring new targets: 112.00 m.Rh$%:Zh$%: ProNav: ac range: 111.998055 m, nav range: 107.575127 m, bearing: 277.499328 deg, approach rate: -0.621797 m/s, LOS rate: 0.036094 deg/s, cmd heading: 274.266110 deg, new cmd heading: 274.309889 deg. Bh+:1=HeadingCmd: 4.787611 target range: 111.998055 and range: 112.50 m.h=4@h9*h9"h9 hAgAfAfAfAdIdIdIjdIZdUt@颽|Bɢ:) h}=i)Ai5Jio0<VI4@Iqachecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770927(Թ= 9@A  @A @M 0@I bEɷG4jEC4rEg/E5 = E5 EE5 +E1 "E5 s;*E5 ;VE5 [4ZE1 BE5 i #ɿ jt> ~%@ aF> 4%@ ^ Z>) Q =I ^ Z  05T?A?"? :>) GI Q =i ^ Z T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseA!I1IIO] ?,$:?AZVp@Zk@Z;ٱZj AHRS rotation from veh to nav: [[0.050665,0.988722,0.140935],[-0.998700,0.050946,0.001614],[-0.005584,-0.140834,0.990018]]ZH?? ) ?Y@?pZ?v¿@9?iZVp@IZy];ZCY)}By5II=>)=p=i Mb@Mb@Mb@     9 jt?QMbP?Y  ?y u : A  A)  Y =AbD%VD%1yUIռ%U =ٔUqaQ-]>9YYY=]dFy]aDeEe>Q 54蚊?Q 94~:)^NBY ?Q E:yſQ I?CI;i;4yɮ%%AjhQ]FNOT Ignoring new targets: 112.00 m.Rh:Zh: ProNav: ac range: 111.998055 m, nav range: 107.199097 m, bearing: 277.520226 deg, approach rate: -0.607578 m/s, LOS rate: 0.033885 deg/s, cmd heading: 274.309877 deg, new cmd heading: 274.372792 deg. Bh :HeadingCmd: 4.788709 target range: 111.998055 and range: 112.50 m.h=@h*h"h hgfff}BdddjdZd i @E}BɢEfl)A M0=iI)M)>IIiMڭIiUKU/9qYq=udFy}kD}:E}>Q 54隊?Q 94B)Yy{ſQ I?CI;i;4yɮ$AB*** querying acoustic contact ***i ijhimFNOT Ignoring new targets: 112.00 m.Rhu:Zhu: ProNav: ac range: 111.998055 m, nav range: 106.877831 m, bearing: 277.538077 deg, approach rate: -0.619791 m/s, LOS rate: 0.034541 deg/s, cmd heading: 274.372797 deg, new cmd heading: 274.426510 deg. Bh:HeadingCmd: 4.789646 target range: 111.998055 and range: 112.50 m.hD@h*h"h hgfffdddjdZd`@  }Bɢ p 1)  P1=i) G;i>IiJ,/9Y=dFywD~%:E>Q 54x뚊?Q 94~L)Y?Q E:yQ I?CI ;iz ;4yɮ$AjhFNOT Ignoring new targets: 112.00 m.Rh9Zh9- ProNav: ac range: 111.998055 m, nav range: 106.516769 m, bearing: 277.552754 deg, approach rate: -0.633892 m/s, LOS rate: 0.025855 deg/s, cmd heading: 274.426510 deg, new cmd heading: 274.470690 deg. Bh-:5HeadingCmd: 4.790417 target range: 111.998055 and range: 112.50 m.h5K@h1*h1"h1 h1g9f9f9fE}BdAdAdAjdAZdM@vB@}BɢQ) l@=i9)=799i=HiEEM.BI BM IBM Q}BBI BI BI BM ;BM 5E A I I O >,':?A2z@2u@2z;ٱ2 >AHRS rotation from veh to nav: [[0.051960,0.989139,0.137492],[-0.998623,0.052451,0.000057],[-0.007156,-0.137306,0.990503]]2H`??`Y?@ڪ? ?`HO}`>2?i2z@I2{^;2CYF`}ByFIbDNVDNyVc=%V_=ٔZ:Q-Z>9XYX=ZdFyZD^|:E^>`Q 5f4b욊?Q 9f4bfR)`YdyjQ Ij?bCIb-:ib:bo4yn2Bɮn$AnEjh FNOT Ignoring new targets: 112.00 m.Rh 9Zh 9 ProNav: ac range: 111.998055 m, nav range: 106.292442 m, bearing: 277.561897 deg, approach rate: -0.611495 m/s, LOS rate: 0.024977 deg/s, cmd heading: 274.470687 deg, new cmd heading: 274.498176 deg. Bh!:%HeadingCmd: 4.790897 target range: 111.998055 and range: 112.50 m.h%O@h!*h)"h) h)g)f)f1f1d1d1d1Թjd9Zd@%}Bɢ-/;)) -Ԇ=i))-+~4)1i5'xHi=P=]-<=.I=O@I9@ @@/@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseEC E=E0E"Ex;*E;VE4ZEBE{AU>A I I O >9 = T****** received valid address query ******= R****** received valid ping request ******= received new query, but waiting for acoustic response period to elapse:,:?AMm|@M6w@M;ٱMa uAHRS rotation from veh to nav: [[0.052138,0.989281,0.136402],[-0.998612,0.052662,-0.000232],[-0.007412,-0.136200,0.990654]]MHԱ?0?@u?`z?X. >\~@o o?iMm|@IM^;MCYf}ByIi-Mb@Mb@Mb@)))) )9-5^I ?{Gzt?{Gz?Y-?y-ף;-#<-A) ))))Y-=AbDEVDEyew8<%m1=ٔ}<:Q->9Y=dFyD9E>Q 54횊?Q 94Y)aNBY?Q E:yQ I?%CI3:i: 4yɮ#AcG1I}9yY} Ajh!%FNOT Ignoring new targets: 112.00 m.Rh-9Zh-9= ProNav: ac range: 111.998055 m, nav range: 106.017570 m, bearing: 277.572190 deg, approach rate: -0.543070 m/s, LOS rate: 0.020387 deg/s, cmd heading: 274.498172 deg, new cmd heading: 274.529129 deg. Bh=_:EHeadingCmd: 4.791437 target range: 111.998055 and range: 112.50 m.hEtS@hA*hA"hI hIgIfIfQfU}BdQdQdQjdYZd]g@颅%}Bɢj0:) =i)!0顉iHi񾿉,<y4ItS@IA9@9 @9@9@AT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapsei^Ae x/E A E 5E +E "E v;*E ;VE [4ZE a @a @a @a @ԙ A I I O >/,b:?A>|@>xw@>^;ٱ>b FAHRS rotation from veh to nav: [[0.052169,0.989047,0.138071],[-0.998612,0.052678,-0.000032],[-0.007305,-0.137878,0.990422]]>H?F?R? ?Э}?i>|@I>7^;>CYNY}ByNIIR<)R<bDZVDZ:ybP %b^=ٔbҙQ-b>9dYd=fdFyfDj8Ej>lQ 5r4n%?Q 9r4nT_)nbNBYpyrQ Ir?nACIn:in;n4yxɮz2$AxjhFNOT Ignoring new targets: 112.00 m.Rh% 9Zh% 95 ProNav: ac range: 111.998055 m, nav range: 105.801125 m, bearing: 277.580325 deg, approach rate: -0.670385 m/s, LOS rate: 0.025249 deg/s, cmd heading: 274.529126 deg, new cmd heading: 274.553583 deg. Bh5:=HeadingCmd: 4.791864 target range: 111.998055 and range: 112.50 m.h=V@h9*h9"hA hAgAfAfIfIdIdIdQjdQZdU` @}*}Bɢ}lf:) H:=i).顁i{Gi㾿+<:IV@ImT****** received valid address query ******uR****** received valid ping request ******ureceived new query, but waiting for acoustic response period to elapseB>B(CBIB[}BB =BBDB;B5E-9@) @)@-3@)^AE0AAq I I O > T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseԉ Չ,::?AEC EE*E"Ex;*EVE(N4ZEBEa=2EaEJEg9YYY=edFyeDeEe>iQ 5u4m?Q 9u4mzg)mfNBY}?Q E}:y}¿Q I}?mhCImX:im3:m4y.Bɮ#AEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 112.00 m.Rh9Zh9 ProNav: ac range: 111.998055 m, nav range: 105.491737 m, bearing: 277.593384 deg, approach rate: -0.595660 m/s, LOS rate: 0.025216 deg/s, cmd heading: 274.553579 deg, new cmd heading: 274.592871 deg. Bhr:HeadingCmd: 4.792550 target range: 111.998055 and range: 112.50 m.h\@h*h"h hgfff ~BdddjdZd`@3}Bɢ(:) p=i)ђ*ibGi%);%v*<-CDI-\@I)1T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseԩ9@ @@O0@^A *:A! zA% fA = T****** received valid address query ******= R****** received valid ping request ******= received new query, but waiting for acoustic response period to elapseAm .AIy I O >pU,A:?AB@B@B;ٱBO0 AHRS rotation from veh to nav: [[0.053412,0.988912,0.138565],[-0.998550,0.053818,0.000815],[-0.006651,-0.138407,0.990353]]BHX?*?|? ?ȳJ?>{T?iB@IBW^;@Y%}By-IbD=VD=yM=%Mm=ٔMQ-M?9U ?YU ?=UdFyUD]k;E]?aQ 5m4e?Q 9m4el)ehNBYqyuQ Iu?eCIe<;iez;e!4yyɮ}Y#AyԑjhFNOT Ignoring new targets: 112.00 m.Rh9Zh9 ProNav: ac range: 111.998055 m, nav range: 105.285637 m, bearing: 277.601985 deg, approach rate: -0.596081 m/s, LOS rate: 0.024923 deg/s, cmd heading: 274.592866 deg, new cmd heading: 274.618718 deg. Bhֈ:HeadingCmd: 4.793001 target range: 111.998055 and range: 112.50 m.hC`@h*h"h hgfffdddjdZdހ@ 9}Bɢ G;) \=i)3'i8Gi`^*<{7IC`@I!E< E1E-E"E,r;*Ef;VEt4ZEa@a@a@a@y@ @@4@]T****** received valid address query ******]R****** received valid ping request ******]received new query, but waiting for acoustic response period to elapseB=>B='CB=IB=z}BB9B9B=DB=;B=5E^A0:DA ؟AI I O > {8, ;?AɰF@F@Fk;ٱF NAHRS rotation from veh to nav: [[0.054246,0.988892,0.138385],[-0.998506,0.054643,0.000933],[-0.006639,-0.138229,0.990378]]FHƫ?`???(N?@1{{`-?iF@IF.^;FCYV}ByVIZ!>Z=bDbVDbfyfr;=%fS=ٔjQ-j>9j"?Yn"?=ndFynDnm ;Er>pQ 5v4r?Q 9z4rr)rkNBYxyzQ Iz?rCIry:ir :r'4y}'Bɮ}"A}%EjhFNOT Ignoring new targets: 112.00 m.Rh 9Zh 9 ProNav: ac range: 111.998055 m, nav range: 105.054893 m, bearing: 277.611549 deg, approach rate: -0.571229 m/s, LOS rate: 0.023728 deg/s, cmd heading: 274.618711 deg, new cmd heading: 274.647466 deg. BhF:HeadingCmd: 4.793502 target range: 111.998055 and range: 112.50 m.h_d@h*h"h hgfffdddjdZd`@A}Bɢ`;) =i!)%"!!i%f Gi-ﭾ-)<-a5I-_d@I1T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse @  @ @ /@ )E9 E3E+E"Eso;*Et ;VE [4ZEBEy b,J]';?AJ@J@Ji;ٱJQk RAHRS rotation from veh to nav: [[0.055005,0.988929,0.137817],[-0.998464,0.055388,0.001056],[-0.006590,-0.137663,0.990457]]JH)?O?@?k [?9KQ?`z@ӱ?iJ@IJ$^;JCYZ}ByZIi=Mb@Mb@Mb@9999 99=Q?Mb?I +?Y=\?y=<9=A=@ =GA)= A9Y=\AbDUVDUyeU%eA=ٔm[Q-m>9m ?Ym ?=mdFymDu:Eu>yQ 54}?Q 94}4y)}nNBYf?Q E:yܿQ I?}CI}L:i}:}./4yɮ#AjhFNOT Ignoring new targets: 112.00 m.Rhn9Zhn9 ProNav: ac range: 111.998055 m, nav range: 104.818314 m, bearing: 277.619440 deg, approach rate: -0.583249 m/s, LOS rate: 0.019500 deg/s, cmd heading: 274.647453 deg, new cmd heading: 274.671181 deg. BhV:HeadingCmd: 4.793917 target range: 111.998055 and range: 112.50 m.hg@h*h"h hgfff3~BdddjdZd@QH}Bɢ;) ^=i)%!!i%Fi-ZUX(AM >A ؟AI I O > N,JA;?AT****** received valid address query ******R****** received valid ping request ******%received new query, but waiting for acoustic response period to elapseB->B)B-IB-}BB- =B)B)B-;B-5EY}ByIbDVDy-=%D=ٔQ->9"?Y"?=dFyDE>Q 54?Q 94Q)pNBYyQ I?CI:i9:s64yɮ"AjhFNOT Ignoring new targets: 112.00 m.Rh9Zh9- ProNav: ac range: 111.998055 m, nav range: 104.585739 m, bearing: 277.627234 deg, approach rate: -0.559387 m/s, LOS rate: 0.018786 deg/s, cmd heading: 274.671194 deg, new cmd heading: 274.694626 deg. Bh-HN:5HeadingCmd: 4.794326 target range: 111.998055 and range: 112.50 m.h5k@h1*h1"h9 h9g9f9f9fAdAdAdAjdAZdMg@ԩ-P}Bɢ5^Y>;)1 5=i1)5f99i=Fi=EM.(=,[;?AEz@EC@EV;ٱE/ UAHRS rotation from veh to nav: [[0.057020,0.988862,0.137480],[-0.998353,0.057344,0.001605],[-0.006297,-0.137345,0.990503]]EH 1???`7\?JZ?`y`3?iEz@IEOS^;ECYe}ByeIIm=)ma=qqiMb@Mb@Mb@ 9B`"?Mby&1|?Y?y`;A@ )AYA bD VD ky%@=ٔR4Q->9 ?Y ?=dFyD;E>Q 54k?Q 94)rNBY?Q E:y[ÿQ I?CI;i;>4yɮ"AB*** querying acoustic contact ***i ijh FNOT Ignoring new targets: 112.00 m.Rh9Zh9} ProNav: ac range: 111.998055 m, nav range: 104.342499 m, bearing: 277.639090 deg, approach rate: -0.545797 m/s, LOS rate: 0.026665 deg/s, cmd heading: 274.694636 deg, new cmd heading: 274.730286 deg. Bhe:HeadingCmd: 4.794948 target range: 111.998055 and range: 112.50 m.h7p@h*h"h hgfffU~BdddjdZd% @T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapsemY}Bɢm4;)i mv=iq)u11i5ZFi5~=a'<=;$I=7p@I9 9@  @ @ @ 9 ^A- 8 T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseԉ A} ؟AI I O >fp,^x;?A2j@23@2Z;ٱ28 :AHRS rotation from veh to nav: [[0.058353,0.988768,0.137598],[-0.998277,0.058650,0.001900],[-0.006191,-0.137472,0.990486]]2Hp?@?ќ?@U?q"_?[y@?i2j@I2,^;2CYB}ByBIbDNVDNfyR%VL=ٔVQ-V>9Z"?YZ"?=ZdFyZD^a;E^>`Q 5b4bA?Q 9f4bl)btNBYdyf/ÿQ If?bCIb;ib;bD4ylɮn"AlDz%=Dz<E~L E~DE~,E|"E~W;*E~h;VE~g4ZE|a@a@a@a@jhFNOT Ignoring new targets: 112.00 m.Rh%9Zh%95 ProNav: ac range: 111.998055 m, nav range: 104.126816 m, bearing: 277.649489 deg, approach rate: -0.562819 m/s, LOS rate: 0.027193 deg/s, cmd heading: 274.730289 deg, new cmd heading: 274.761552 deg. Bh5M:=HeadingCmd: 4.795494 target range: 111.998055 and range: 112.50 m.h=t@h9*h9"h9 hAgAfAfAfIdIdIdIjdQZdU@9\!@`}Bɢ:) ,N=i)%K!!i%?FiMlM &BiBmIBm}BBm =Bm?DBiBm;Bm5EB B B B ž =T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseB ž =C 5^AA gAzA gAQA1 IA IQ O} >y (Q,\;?A2.@2@2T;ٱ2& :AHRS rotation from veh to nav: [[0.059909,0.988685,0.137525],[-0.998185,0.060183,0.002165],[-0.006136,-0.137405,0.990496]]2H@T?N?`h?!OЮ?a? `"y`z$?i2.@I2^;2CYB}ByBIbDJVDJyRv<%RK=ٔV Q-V>9TYT=VdFyVDZ\~;EZ>T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse\Q 5e4^&?Q 9e4^O)^vNBYaye¿Q Ie?^4CI^,t@;?AFNˑ@FƘ@F;ٱF bAHRS rotation from veh to nav: [[0.061752,0.988459,0.138331],[-0.998074,0.061973,0.002716],[-0.005888,-0.138232,0.990382]]FH@?t?Ѵ?@9@ݺ??f?x`6?iFNˑ@IF8._;FCYj}ByjI lln=n=i]Mb@Mb@Mb@YYYY Y9]J +?~jtx{Gz?Y]?y]Ļ]#9 ?Y ?=dFyD;E>Q 54¿Q I?SCI:i:S4yɮ"AjhFNOT Ignoring new targets: 112.00 m.Rh9Zh9 ProNav: ac range: 111.998055 m, nav range: 103.662262 m, bearing: 277.670856 deg, approach rate: -0.562071 m/s, LOS rate: 0.025099 deg/s, cmd heading: 274.793455 deg, new cmd heading: 274.825784 deg. Bh͉:HeadingCmd: 4.796615 target range: 111.998055 and range: 112.50 m.h}@h*h"h hg f f f dddjdZd #@Er}BɢE)A E4=iI)MIuT****** received valid address query ******uR****** received valid ping request ******ureceived new query, but waiting for acoustic response period to elapseIi}}Ei}GQ%<rI}@IAa@a @a@e0@aE E(E'E"E*E;VE'4ZEa@a@a@a@q^A HB >B (CB B B =B >DB DB ;B 5E- T****** received valid address query ******- R****** received valid ping request ******- received new query, but waiting for acoustic response period to elapseԹ A I I O >L,;?A2ؑ@2Ҙ@2;ٱ2@ :AHRS rotation from veh to nav: [[0.063313,0.988282,0.138888],[-0.997979,0.063461,0.003364],[-0.005490,-0.138820,0.990302]]2H@H5???p??@k?)|v`?i2ؑ@I2_;2CYB}ByBIbDNVDNyR#O%VZ=ٔVQ-V>9XYX=ZdFyZDZn;EZ>`Q 5b4b*?Q 9f4b)b}NBYdyf ¿Q If?bmCIb:ib:b`Z4yhɮn"AljhaeFNOT Ignoring new targets: 112.00 m.Rhmd9Zhmd9 ProNav: ac range: 111.998055 m, nav range: 103.462273 m, bearing: 277.679628 deg, approach rate: -0.515716 m/s, LOS rate: 0.022664 deg/s, cmd heading: 274.825775 deg, new cmd heading: 274.852142 deg. Bhx:HeadingCmd: 4.797075 target range: 111.998055 and range: 112.50 m.h@h*h"h hgfffdddjdZd5`#@]z}BɢeL)a ehA > A ؟AI! I1 O= >R,%;?A2@2ޘ@2B';ٱ2 :AHRS rotation from veh to nav: [[0.064746,0.988155,0.139130],[-0.997889,0.064809,0.004086],[-0.004979,-0.139101,0.990266]]2H`9?? ?Q?p?dt A?i2@I2y`;0YB}ByBIiMb@Mb@Mb@ 9?:vy&1|?Yf?yԼ`;A A) AYQAbDVD9"?Y"?=dFyDR;E>!Q 5-4%?Q 9-4%)%NBY-?Q E5:y5ƿQ I5?%CI%X ;i% ;%-b4y9ɮ=#A9]B*** querying acoustic contact ***iY iYjhamFNOT Ignoring new targets: 112.00 m.Rhu:Zhu: ProNav: ac range: 111.998055 m, nav range: 103.229172 m, bearing: 277.694754 deg, approach rate: -0.536190 m/s, LOS rate: 0.034871 deg/s, cmd heading: 274.852140 deg, new cmd heading: 274.897619 deg. Bhs:HeadingCmd: 4.797869 target range: 111.998055 and range: 112.50 m.h$@h*h"h hgfffb~BdddjdZdq$@ }BɢgG)A)A UiQuy9qYurbA)}yyiDi*Z$<ӻI$@I1@9 @9@=4@9A  DAT read:  2Acoustic response timeout^A} `Իi A E 8 E 6E %E "E n;*E  ;VE 4ZE a @a @a @a @I I O >9E,;?A:U@:@:;ٱ:2; ZAHRS rotation from veh to nav: [[0.066506,0.987868,0.140336],[-0.997778,0.066403,0.005421],[-0.003964,-0.140384,0.990089]]:H`???`?3v?9xYx=zdFyzD~ȕ;E~>Q 5 4?Q 9 4q)NBY y ƿQ I?CI6:i:h4yɮ#AjhIMFNOT Ignoring new targets: 112.00 m.RhUy:ZhUy:e ProNav: ac range: 111.998055 m, nav range: 103.027588 m, bearing: 277.707686 deg, approach rate: -0.521846 m/s, LOS rate: 0.033544 deg/s, cmd heading: 274.897629 deg, new cmd heading: 274.936502 deg. Bhe+:mHeadingCmd: 4.798547 target range: 111.998055 and range: 112.50 m.hm@hi*hi"hi higqfqfqfydydydyjdZd6{%@颭}Bɢ) 6i)顱qi/PDi#<$I@IԹB>B'CBIB}BB =BBDB;B5E)@) @1@5/@1iiImAu2Acoustic response timeout^Am[Rӻ A .AI I O > 2Acoustic response timeout9 )8,C9Z ?YZ ?=ZdFyZD^μ;E^>`Q 5f4b:?Q 9f4b)bNBYdyfGƿQ Ij?bCIbn;ib;bo4ylɮn#AljhFNOT Ignoring new targets: 112.00 m.Rh f:Zh f: ProNav: ac range: 111.998055 m, nav range: 102.819496 m, bearing: 277.720819 deg, approach rate: -0.523272 m/s, LOS rate: 0.033091 deg/s, cmd heading: 274.936506 deg, new cmd heading: 274.975984 deg. Bh:%HeadingCmd: 4.799236 target range: 111.998055 and range: 112.50 m.h%X@h)*h)"h) h)g)f)f1f1d1d1d1jd9Zd=F&@e}Bɢm)i mhii)miiiuؿCiu 򽿉}Et#<}iI}X@IyE> E:E+E"Es;*E$ ;VE [4ZEBEV ,/AHRS rotation from veh to nav: [[0.070791,0.987409,0.141467],[-0.997487,0.070469,0.007291],[-0.002770,-0.141627,0.989916]]2HX?ژ? ?j`> ?}?f ¿d?i2@I2b;2CYFH}ByFIi Mb@Mb@Mb@     9 |?5^?:vMbP?Y  ?y  : A @ A)  Y zAbD- VD-2y5+%5C=ٔQ->9Y=dFyD);E>Q 54?Q 94D)NBY ?Q E:yſQ I?CIj:is:tw4yBɮ#A8EjhFNOT Ignoring new targets: 112.00 m.Rh:Zh:E ProNav: ac range: 111.998055 m, nav range: 102.580750 m, bearing: 277.735556 deg, approach rate: -0.551080 m/s, LOS rate: 0.034095 deg/s, cmd heading: 274.975985 deg, new cmd heading: 275.020298 deg. BhE0:MHeadingCmd: 4.800010 target range: 111.998055 and range: 112.50 m.hM@hI*hI"hI hIgIfQfQfU4~BdYdYdYjdYZd]Z''@颍}Bɢ) i)Ɇ顑i$Ciؽ"<?ZI@IE2Acoustic response timeoutqM9@I @I@M/@IE5 E3E*E"Ek;*Et ;VE(N4ZEa@a@a@a@ԙ^A3 B >B &CB IB z}BB =B ?DB DB ;B 5EI I O > 2Acoustic response timeout>,iIAHRS rotation from veh to nav: [[0.072521,0.987086,0.142833],[-0.997366,0.071969,0.009038],[-0.001359,-0.143112,0.989706]]6H ?5?\H?l`l? U?TBVQ¿ફ?i6#@I6mdb;6CYF&}ByFI HHbDRVDRyZI%ZS=ٔZwQ-^>9\Y\=bdFyb Db2;Eb>dQ 5j4f0?Q 9j4f)fNBYhynſQ In?fClIfd:if+;f}4ytɮvT$AtjhFNOT Ignoring new targets: 112.00 m.Rh:Zh:- ProNav: ac range: 111.998055 m, nav range: 102.374954 m, bearing: 277.748110 deg, approach rate: -0.550596 m/s, LOS rate: 0.033656 deg/s, cmd heading: 275.020299 deg, new cmd heading: 275.058037 deg. Bh-ȸ:5HeadingCmd: 4.800668 target range: 111.998055 and range: 112.50 m.h5@h1*h1"h1 h1g9f9f9fAdAdAdAjdAZdM'@u}Bɢu:)q }`iy)}syyiBiýޗ"<#I@I@ @@0@ E2Acoustic response timeout^A5jZX9IIO>E + E #E E "E b;*E ;VE ZE BE 9Y=dFyDt;E>Q 54?Q 94E)NBY?Q E:yvƿQ I?CIP ;i ;4yɮ$A=B*** querying acoustic contact ***i9 i9jhAMFNOT Ignoring new targets: 112.00 m.RhM%:ZhU%:e ProNav: ac range: 111.998055 m, nav range: 102.127121 m, bearing: 277.764158 deg, approach rate: -0.558565 m/s, LOS rate: 0.036258 deg/s, cmd heading: 275.058029 deg, new cmd heading: 275.106292 deg. Bhe:mHeadingCmd: 4.801511 target range: 111.998055 and range: 112.50 m.hm@hi*hi"hi higifqfqfu~BdydydyjdyZd},(@%}Bɢ-\N)) -,iI)U(QQiUAi]]#"<]I]@IYi9@  @ @ @ ԑU BDAT read: Response Not Received U *response not received] RDAT read: user:86>Tx time:04:11:29.0310 ] Au >I I) O5 > E 8 E "E -E "E n;*E ;VE t4ZE a @a @a @a @В,) }91Y1=5dFy5D5E5>9Q 5E4=?Q 9M4=ſQ =MtI)=NBYIyIQ IM?=5CI=:i=:=[4yQɮ]#%AYjhFNOT Ignoring new targets: 112.00 m.Rh):Zh):ԙ ProNav: ac range: 111.998055 m, nav range: 101.911621 m, bearing: 277.778177 deg, approach rate: -0.569127 m/s, LOS rate: 0.037101 deg/s, cmd heading: 275.106305 deg, new cmd heading: 275.148449 deg. Bh:HeadingCmd: 4.802247 target range: 111.998055 and range: 112.50 m.h@h*h"h hgfffdddjdZd p)@}Bɢ+ɇ) KAi)H1i@ie!<K2I@IB>B'CBIBG}BBBBDB;B5E@ @@4@DAT read: 2Acoustic response timeout^ANJκIYIqO}> ] %=] 4=] 2Acoustic response timeout_%,#D@>a?@>˺ٱ>$ JAHRS rotation from veh to nav: [[0.076523,0.986594,0.144144],[-0.997067,0.075493,0.012606],[0.001555,-0.144686,0.989476]]>H?,?Ns?@@S?'щ?ozY?¿ʩ?i>D@I>c;>CYR|ByRzIIV<)V4<bDZVDZ:yb%bP=ٔfQ-f>9dYd=fdFyj%Dji;Ej>lQ 5r4ni?Q 9r4n˿)lYtyv(ƿQ Iv?nQCIn:in1:n84y|ɮ~%A|jh!-FNOT Ignoring new targets: 112.00 m.Rh5$:Zh5$:E ProNav: ac range: 111.998055 m, nav range: 101.690369 m, bearing: 277.792333 deg, approach rate: -0.561865 m/s, LOS rate: 0.036027 deg/s, cmd heading: 275.148461 deg, new cmd heading: 275.191021 deg. BhE:EHeadingCmd: 4.802989 target range: 111.998055 and range: 112.50 m.hM@hI*hI"hI hIgIfQfQfQdQdYdYjdYZd]@R*@颅}Bɢ~) Zii)n=顑i@iw|i!<╺I@IbEE·G4jEEmF4rEE©]0E0 E3E(E"EJg;*Et ;VEc44ZEBEAq +,,ְ9Y=dFy-D@";E>Q 54z?Q 94ҿ)NBY?Q E:y¿Q I?rCIU:i<:4yBɮ&ABEjhFNOT Ignoring new targets: 112.00 m.Rh:Zh:% ProNav: ac range: 111.998055 m, nav range: 101.437431 m, bearing: 277.804683 deg, approach rate: -0.588259 m/s, LOS rate: 0.028796 deg/s, cmd heading: 275.191026 deg, new cmd heading: 275.228171 deg. Bh%:-HeadingCmd: 4.803638 target range: 111.998055 and range: 112.50 m.h-g@h)*h)"h) h1g1f1f9f=}Bd9d9d9jdAZdE/+@Qu}Bɢu0Ư)y }iiy)}@Lyyi}/>ia!<}ށIg@I2Acoustic response timeoutI@I @I@M/@IԁE6 E*E&E"El;*E;VE4ZEa@a@a@a@^ANJκAzAԹB >B B IB }BB =B >DB B ;B BiBiBiBiBiCm5 2Acoustic response timeoutA I I O% > 92,г9AYA=MdFyM5DMEM>QQ 5]4Uq?Q 9]4Uؿ)UNBYayaQ Ie?UCIUn;iU;U4yiɮmA&AijhFNOT Ignoring new targets: 112.00 m.Rh!:Zh!: ProNav: ac range: 111.998055 m, nav range: 101.207932 m, bearing: 277.815943 deg, approach rate: -0.587312 m/s, LOS rate: 0.028879 deg/s, cmd heading: 275.228183 deg, new cmd heading: 275.262037 deg. Bh:ԱHeadingCmd: 4.804229 target range: 111.998055 and range: 112.50 m.h>@h*h"h hgfffdddjdZd ,@}}Bɢ}r)y }iy)Tr]顁i=irNמ <QҺI>@IA@A @A@E/@A%2Acoustic response timeoutE= E(E*E"Es;*E;VE(N4ZEBE9 8,"9Y=dFy=Dc;E>Q 54?Q 94߿)}NBY%?Q E:y¿Q I?CI:iv:˨4yɮ&AB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 112.00 m.RhH:ZhH: ProNav: ac range: 111.998055 m, nav range: 100.941620 m, bearing: 277.828857 deg, approach rate: -0.644082 m/s, LOS rate: 0.031317 deg/s, cmd heading: 275.262033 deg, new cmd heading: 275.300879 deg. Bh:HeadingCmd: 4.804907 target range: 111.998055 and range: 112.50 m.h@h*h"h hgf f f u}Bd ddjd!Zd%},@}Bɢؼ) 棾i)miϻD =D R=E , E =E (E "E c;*E ;VE c44ZE a @a @a @a @!>,hf@>a@>%$ɻٱ>5 JAHRS rotation from veh to nav: [[0.080708,0.986427,0.142998],[-0.996719,0.078988,0.017673],[0.006138,-0.143955,0.989565]]>H`C?ϐ?M?8??@z$y?m¿?i>f@I>\d;>CYb|BybIIbDnVDny w% R=ٔ 4Q- >9Y=dFyED;E>IQ 5U4M?Q 9U4ME)MwNBYQyUd¿Q IU?MCIM;iM<;M4yaɮe&AajhFNOT Ignoring new targets: 112.00 m.Rh:Zh: ProNav: ac range: 111.998055 m, nav range: 100.687592 m, bearing: 277.841104 deg, approach rate: -0.645880 m/s, LOS rate: 0.031216 deg/s, cmd heading: 275.300883 deg, new cmd heading: 275.337716 deg. Bhc:HeadingCmd: 4.805550 target range: 111.998055 and range: 112.50 m.hǙ@h*h"h hgfffddd jd Zd -@颭}Bɢ|) si)~i;i,#<jIǙ@IA1A1B=>B=(CB=~IB=|BB= =B9B=DB=;B=5Ei2Acoustic response timeout!@! @!@!@!ԙ^Am 9Am >Am > I I O >= 2Acoustic response timeoutE,C=?A2g@2pb@2hٱ2 :AHRS rotation from veh to nav: [[0.080787,0.986562,0.142015],[-0.996704,0.078911,0.018800],[0.007341,-0.143065,0.989686]]2Ht?`?-?3?b@?@~?O¿ ?i2g@I2wc;2CYB|ByFMIbDNPVDNyVT<%VP=ٔZHQ-Z>9XYX=^dFy^MD^V9E^>`Q 5f4b?Q 9f4b)bsNBYhyj`¿Q Ij?bCIb :ib|:bp4ylɮn&Apjh FNOT Ignoring new targets: 112.00 m.Rh 1:Zh 1: ProNav: ac range: 111.998055 m, nav range: 100.437927 m, bearing: 277.853186 deg, approach rate: -0.645109 m/s, LOS rate: 0.031297 deg/s, cmd heading: 275.337712 deg, new cmd heading: 275.374048 deg. Bh%ԫ:%HeadingCmd: 4.806184 target range: 111.998055 and range: 112.50 m.h%B̙@h)*h)"h) h)g)f)f1f1d1d1d1jdZd*b.@5}Bɢ5fEE E/EE"EVz;*EY;VEZEBE ! K,2=?A2g@2Rb@2L; ٱ2= :AHRS rotation from veh to nav: [[0.080772,0.986642,0.141468],[-0.996696,0.078741,0.019903],[0.008498,-0.142609,0.989743]]2H@x?@?`?b(?a?[g?@¿?i2g@I2Cxb;2CYB|ByBLIIF>)F=|iMMb@Mb@Mb@IIII I9Mv/?MbpI +YMx)?yMM94IM@ I)MAIYMQAbDeVDeyuE%u>=ٔ00Q->9Y=dFyVD E>Q 54?Q 94])qNBY)?Q E:yǿQ I?CI:i;4yBɮ&AKEjhFNOT Ignoring new targets: 112.00 m.Rh9Zh9 ProNav: ac range: 111.998055 m, nav range: 100.152092 m, bearing: 277.863754 deg, approach rate: -0.660494 m/s, LOS rate: 0.024490 deg/s, cmd heading: 275.374048 deg, new cmd heading: 275.405843 deg. Bhu: HeadingCmd: 4.806739 target range: 111.998055 and range: 112.50 m.h Й@h *h "h  h g f ff%h}Bd!d!d)jd)Zd-x8/@}Bɢ?) i)+i9i2F<>IЙ@IBDAT read: Rx Time:04:11:31.5721 TRx dataTimestamp_ set to:1761538292.8802512Acoustic response timeout19@ @@^0@E5 E3E+E"Ek;*Et ;VE [4ZEa@a@a@a@Q^AqB= >B9 B= _IB= |BB9 B9 B9 B= ;B= 5EIY Ii Ou >ԁ  2Acoustic response timeoutJR,qK=?A2d@2]_@2!ٱ2ߞ :AHRS rotation from veh to nav: [[0.080411,0.986675,0.141447],[-0.996713,0.078186,0.021227],[0.009885,-0.142688,0.989718]]2Hӕ?֒?? `?`n?_>?`C¿ū?i2d@I2Ta;2CYB|ByBPIbDLVDLyR҂<%VX=ٔVpQ-V>9XYX=ZdFyZ]DZ||EZ>`Q 5b4b?Q 9f4b)boNBYdyfӿQ If?b6CIb:ibg:bğ4yhɮn{&AljhFNOT Ignoring new targets: 112.00 m.Rh 9Zh 9 ProNav: ac range: 111.998055 m, nav range: 99.904335 m, bearing: 277.873015 deg, approach rate: -0.660863 m/s, LOS rate: 0.024764 deg/s, cmd heading: 275.405850 deg, new cmd heading: 275.433701 deg. Bh:%HeadingCmd: 4.807225 target range: 111.998055 and range: 112.50 m.h%ԙ@h!*h!"h! h!g!f)f)f)d)d1d1jd1Zd5 c/@Ye}Bɢe!)i m﮾ii)mEiiiuߒ8iuE켿}<}vI}ԙ@Iy9@ @@4@ԁ2Acoustic response timeout^A]Β{AqzAqԱIIO>E< E)E*E"E,r;*E0;VE(N4ZEBEi]5^ʿ]lg>]T'@][>]m7'@ ]s>)];I]sYY]"M#?<Q?j|U? ]?)]^\I];i]sYY:publishing transmit ping timeFpublishing direction and range infoyY]-'2?]t?#?YYYYYY Y)YIYiYYYYbDUVDUY Y)YIYYY]"M#?<Q?j|U? Y)YIYiYYYye/=%e&=ٔm*Q-m>9qYq=udFyugD}쥺E}>Q 544?Q 94)rNBY+?Q E:yEQ I?aCI3*a,;=?Aɰ;B.>B,B,B,B. =B,B.DB.m;B.5EB Y@BS@BaLٱB JAHRS rotation from veh to nav: [[0.079006,0.986931,0.140444],[-0.996796,0.076447,0.023532],[0.012488,-0.141853,0.989809]]BH9? ?????@>(¿?iB Y@IB_;@YR|ByRKI TTbD%VD%y5`%5F=ٔ5PQ-5>99Y9==dFy=oDEEE>IQ 5U4M ?Q 9U4M )MuNBYQyU^Q IU?MCIM;iM;Mcԟ4yaɮe&Aa}B*** querying acoustic contact ***iy iyjhFNOT Ignoring new targets: 102.24 m.Rh9Zh9 ProNav: ac range: 102.244873 m, nav range: 99.261635 m, bearing: 277.740352 deg, approach rate: -0.738093 m/s, LOS rate: 0.025323 deg/s, cmd heading: 275.473332 deg, new cmd heading: 275.501686 deg. Bh:HeadingCmd: 4.808412 target range: 102.244873 and range: 102.70 m.hޙ@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.}Bɢ  T)  i )ѭi6icż<IIޙ@I!@ @@'4@^A 7!  (DAT read: user:87>  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.745581A ؟AI I O% >Ng,Y=?AE) E2E&E"E`;*E;VE4ZEBEU JAHRS rotation from veh to nav: [[0.078189,0.987066,0.139957],[-0.996844,0.075478,0.024580],[0.013698,-0.141437,0.989852]]BH/? ?`?`&@R?`y+? ?`¿߬?iBWR@IB@^;BCYf|ByfmIbDrVDryz >%zO=ٔzIQ-z>9~"?Y~"?=~dFy~wDE> Q 54  ?Q 94 ) xNBY!y%yQ I-? CI ;i ; H۟4yMBɮM%AUTEjhFNOT Ignoring new targets: 102.24 m.Rh9Zh 9= ProNav: ac range: 102.244873 m, nav range: 98.997757 m, bearing: 277.749555 deg, approach rate: -0.595765 m/s, LOS rate: 0.020832 deg/s, cmd heading: 275.501691 deg, new cmd heading: 275.529372 deg. Bh=d:EHeadingCmd: 4.808895 target range: 102.244873 and range: 102.70 m.hEw@hA*hI"hI hIgIQfifqfqdqdqdyjdyZd}/?5}Bɢ=BӼ)9 =i9)=R9AiE~5iEMiA- >AQ Ia Iq O} >m,Iڸ=?A>b?"checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2484318^ M@^G@^qٱ^G fAHRS rotation from veh to nav: [[0.077553,0.987133,0.139838],[-0.996879,0.074702,0.025534],[0.014759,-0.141382,0.989845]]^H@ڳ?@?`7?n?%?:?¿Ϭ?i^ M@I^ȥ^;^CY|BywIiMb@Mb@Mb@ 9S㥛?y&1?Y$?y`e<A@ )Y(AbDVDN2yH=%;=ٔQ->9Y=dFyDmE>Q 54 ?Q 94)NBY$?Q E:yQ I?CI:i:4yiɮmf%AqjhFNOT Ignoring new targets: 102.24 m.Rh9Zh9 ProNav: ac range: 102.244873 m, nav range: 98.717598 m, bearing: 277.758430 deg, approach rate: -0.687347 m/s, LOS rate: 0.021837 deg/s, cmd heading: 275.529367 deg, new cmd heading: 275.556069 deg. Bho:HeadingCmd: 4.809361 target range: 102.244873 and range: 102.70 m.hH@h*h"h hgfE 6 E 3E ,E "E l;*E t ;VE g4ZE a@a@a@a@fAfE}BdIdIdIjdIZdU1?ԉ颭~Bɢ޵) i)顱ihF5iI<'KŻIH@I]9@Y @Y@]/@YB=>B=&CB=kIB=|BB= =B9B=DB=e;B=5EԱchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.500091^A} S A I I O >pt,=?A\Y~|By~I    4<bDVD1y%=%%V=ٔ-Q-->9)Y)=-eFy-D5E5>9Q 5E4=6?Q 9E4=)=NBYIyIQ IM?=CI=:i=:=4yQɮU$AQjhyFNOT Ignoring new targets: 102.24 m.Rht9Zht9 ProNav: ac range: 102.244873 m, nav range: 98.471512 m, bearing: 277.766268 deg, approach rate: -0.679242 m/s, LOS rate: 0.021688 deg/s, cmd heading: 275.556059 deg, new cmd heading: 275.579631 deg. Bh%n:HeadingCmd: 4.809772 target range: 102.244873 and range: 102.70 m.h@h*h"h hgfffdddjdZd t^? ~Bɢؼ) i)JŻi'4iИx<ÒλI@I]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7528549@ @@@bEFA4jEFA4rE/0E%* E%8E%+E!"E%a;*E% ;VE% [4ZE!BE% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004047?z,À=?AFH@FC@FٱFIJ ZAHRS rotation from veh to nav: [[0.077016,0.986910,0.141698],[-0.996902,0.073945,0.026821],[0.015992,-0.143324,0.989547]]FHP?@Ô?&#? ` ?w?K`?sX¿]?iFH@IF Y^;DYf|ByfIiMb@Mb@Mb@ 9x&?~jtxQ?Y7)?yĻu<A@ A)tAYAbDVDyf<%@=ٔb>Q->9 ?Y ?=eFyDE>Q 54?Q 94&)NBYD)?Q E:yQ I? CIv:i:4yBɮx$AUEjhFNOT Ignoring new targets: 102.24 m.Rh%9Zh%95 ProNav: ac range: 102.244873 m, nav range: 98.191681 m, bearing: 277.776760 deg, approach rate: -0.658939 m/s, LOS rate: 0.024776 deg/s, cmd heading: 275.579637 deg, new cmd heading: 275.611202 deg. Bh=:=HeadingCmd: 4.810323 target range: 102.244873 and range: 102.70 m.h=*@hA*hA"hA hAgAfAfIfM}BdIdIdQjdQZdU @}~Bɢ?Ƽ) i)ͻ顉iH4iÆF<VI*@III@Q @Q@U/@Q@]=@]=echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.256083q^Am[RӻAueAzAugAE5 / E5 ,E5 ,E1 "E5 af;*E5 ;VE5 g4ZE1 a= @a= @a= @a= @A ؟Aԩ I I O >B= >B= 'CB= IB= |BB9 B9 B= DB= y;B= 5EB(CB(CBB̼ =B̽ =C̮5,b>?AvF@vA@vۈٱvB AHRS rotation from veh to nav: [[0.076783,0.986886,0.141985],[-0.996908,0.073603,0.027517],[0.016706,-0.143658,0.989486]]vH??`,?`ײ?@n-?J?`fc¿@ߩ?ivF@Iv6^;tY-'}By-IbDEVDE:2yMb=%UR=qٔ}Q-}>9}"?Y}"?=}eFyDE>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508090Q 54u?Q 94-)NBYyQ I?/CIE;i;4yɮ#AB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 102.24 m.RhE9ZhE9 ProNav: ac range: 102.244873 m, nav range: 97.931709 m, bearing: 277.786596 deg, approach rate: -0.614404 m/s, LOS rate: 0.023307 deg/s, cmd heading: 275.611192 deg, new cmd heading: 275.640778 deg. Bh:-HeadingCmd: 4.810839 target range: 102.244873 and range: 102.70 m.h-e@h)*h1"h1 h1g1f1f9f9d9d9d9jdAZdEE@M~BɢM{)I MmiQ)UZӻQQiU3i]u]<<]I]e@Iԩ9@ @@@e >e <m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760314^AE E= 0 E= !E= *E9 "E= Jg;*E= :VE= (N4ZE9 BE= ,!>?AnI@nD@n>ٱn)1 AHRS rotation from veh to nav: [[0.077144,0.986788,0.142475],[-0.996879,0.073934,0.027693],[0.016793,-0.144167,0.989411]]nH?Ó?9Y=eFyD *:E>Q 54p?Q 946)NBY?Q E:yQ I?YCI`a;iZ;4y Bɮ#AU_EjhFNOT Ignoring new targets: 102.24 m.Rh9Zh9 ProNav: ac range: 102.244873 m, nav range: 97.597832 m, bearing: 277.799477 deg, approach rate: -0.603919 m/s, LOS rate: 0.023379 deg/s, cmd heading: 275.640781 deg, new cmd heading: 275.679556 deg. Bh[:HeadingCmd: 4.811516 target range: 102.244873 and range: 102.70 m.h@h*h"h hgfffS~Bdd d jd Zd @ԉ~Bɢ`) HHi)^ ۻi3i%_-r<-jI-@I) 9@  @ @ /@ Թ  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264031^A z A >A >DzD@AE% E#E-E"EO];*E;VEt4ZEa@a@a@a@IaIqO ?,0D>?ADY~{}ByIBB(CBIBG}BB =BBB;B5EbD5VD5fyu:=%uH=ٔuQ-}>9yYy=}eFy}DE>Q 54?Q 94<)NBYyQ I?yCI:i[:4yɮu"AjhFNOT Ignoring new targets: 102.24 m.Rh9Zh9 ProNav: ac range: 102.244873 m, nav range: 97.355042 m, bearing: 277.808899 deg, approach rate: -0.632298 m/s, LOS rate: 0.024600 deg/s, cmd heading: 275.679549 deg, new cmd heading: 275.707887 deg. Bh:HeadingCmd: 4.812010 target range: 102.244873 and range: 102.70 m.h@h*h"h hgfffdddjdZd( @-~Bɢ5ҿ)1 5'$i1)5޻19i=3i=xOEMirȿsh>g'@B>6'@ ȭT>)IȭT*m)?C?=i{/? ?)ժBIiȭT:publishing transmit ping timeFpublishing direction and range infoyI!O?Fa5d?Y )Ii )I*m)?C?=i{/? )Ii^AIIO> ,]>?A2e@2`@2Вٱ2q :AHRS rotation from veh to nav: [[0.080567,0.986320,0.143808],[-0.996616,0.077353,0.027809],[0.016305,-0.145562,0.989215]]2H`?? Ph?Fkͳ?y?)?@ȡ¿?i2e@I2];2CY^}BybIbDjVDjJ|yJ=%S=ٔ\:Q->9 Y = eFy DJ<E>Q 5%4P?Q 9%4B)NBY!y%Q I%?CII;i:4y1ɮ5="A1EE4 EE.EE+EA"EEj;*EE;VEE [4ZEABEE?AJiEBRiEBjiE\@bE(gX@QD4@REI!O?Fa5d?ZiEbiEȭTjEn;M %@/\GU_-X?45@ZECŻ?3%&?2iEj:iE(-A"iE=fK?*iE뛭2BiEBiEF?iE";*iEjBiEaBiEE֚@ addTargetRange:: Added new target pos. range: 100.199997 m, deltaT: 3.528313 s, deltaX: -2.500000 m, approachRate: -0.708554 m/s, rangeRepo size: 4  Added new target pos. range: 99.755150 m, bearing: 276.385210 deg, lat: 36.779397 deg, lon: -121.859554 deg, deltaT: 3.528313 s, deltaX: -2.489723 m, approachRate: -0.705641 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 99.76 m.RhZh ProNav: ac range: 99.755150 m, nav range: 97.189468 m, bearing: 277.234568 deg, approach rate: 0.000000 m/s, LOS rate: 0.024600 deg/s, cmd heading: 275.707880 deg, new cmd heading: 275.737002 deg. BhHeadingCmd: 4.812519 target range: 99.755150 and range: 100.20 m.h'@h*h"h hgfffdddjd  Y@Zd ?$~Bɢ2) i)ki3i > d<-ྻI5'@I119@ @@_0@ YY:GgAMc9UgAYUTAY^A Iq I O >ԁ J,w>?A2 y@2s@27&}ٱ2A :AHRS rotation from veh to nav: [[0.082905,0.986081,0.144124],[-0.996438,0.079782,0.027329],[0.015450,-0.145877,0.989182]]2H@J9??r? `l?@6?`t?@¿ a?i2 y@I2];0YN}ByRIYiUMb@Mb@Mb@QQQQ Q9Ush|??9Y=eFyD;E>Q 54n?Q 94H)NBYI ?Q E:yQ I?CI ;i ;4yɮ!AjhDNOT Ignoring new targets: 99.76 m.Rh9Zh9 ProNav: ac range: 99.755150 m, nav range: 96.962563 m, bearing: 277.243688 deg, approach rate: -0.547242 m/s, LOS rate: 0.022047 deg/s, cmd heading: 275.737004 deg, new cmd heading: 275.764429 deg. Bhr: HeadingCmd: 4.812997 target range: 99.755150 and range: 100.20 m.h @h *h "h  h g fff~BdddjdZd%l?M)~BɢM )I MiI)UWvQQiUӧ3i]/]<][I]@Ia @  @ @4@DM=DM=EU0 EU#EU*EQ"EUJg;*EU;VEU(N4ZEQa]@a]@a]@a]@ԉB%<A!B->B-'CB-IB-}BB- =B)B)B-;B-5EԱ^AM׮IIO> 2,0>?A6@6g@6ϻnٱ6Rv >AHRS rotation from veh to nav: [[0.085520,0.985923,0.143676],[-0.996230,0.082508,0.026802],[0.014571,-0.145426,0.989262]]6H?ୌ?c?B?@r?4׍?R¿`?i6@I6,];6CYF}ByFIbDRVDRyZ<%ZZ=ٔZ;Q-Z>9\Y\=^eFy^Db;Eb>dQ 5j4fx?Q 9j4fDN)fNBYhyjCQ Ij?fCIfd:if|:fy4ypɮr!Ap~B*** querying acoustic contact ***i ijh  DNOT Ignoring new targets: 99.76 m.Rh99Zh99% ProNav: ac range: 99.755150 m, nav range: 96.760712 m, bearing: 277.251525 deg, approach rate: -0.537116 m/s, LOS rate: 0.020897 deg/s, cmd heading: 275.764434 deg, new cmd heading: 275.787995 deg. Bh%we:-HeadingCmd: 4.813408 target range: 99.755150 and range: 100.20 m.h-q@h)*h)"h1 h1g1f1f9f9d9d9dAjdAZdE ;o?m-~Bɢmϊ)q u iq)u^qqi}3i!< 1Iq@IԹ9@ @@/@T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.^A3E]3 E]&E](EY"E]j;*E];VE]c44ZEYBE]9 i9 I= AE (DAT read: user:88> E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496054\\,t>?A:@:砙@:Y`ٱ: JAHRS rotation from veh to nav: [[0.088379,0.985724,0.143308],[-0.995992,0.085468,0.026354],[0.013729,-0.145063,0.989327]]:H?` ?@W?`+6??@1?m¿?i:@I:];:CYV}ByVIiMb@Mb@Mb@ 9p= ף?I +Mb?Y?y9<AK@  A)Y AbDVDβyL<%6=ٔ:Q->9!Y!=%eFy%D%;E->)Q 5=4-z?Q 9=4-iT)-OBY=M?Q E=:y=¿Q I=?-CI- ;i- ;-U%4yM BɮM!AMhEjhquDNOT Ignoring new targets: 99.76 m.Rh}9Zh}9 ProNav: ac range: 99.755150 m, nav range: 96.527458 m, bearing: 277.261991 deg, approach rate: -0.518914 m/s, LOS rate: 0.023341 deg/s, cmd heading: 275.787985 deg, new cmd heading: 275.819460 deg. Bh%:HeadingCmd: 4.813958 target range: 99.755150 and range: 100.20 m.h @h*h"h hgfffBdddjdZd?U3~BɢUׄ)Q U iY)]lYYi]bd3iee,jD,P>?A>0@>@>r;Sٱ>~O FAHRS rotation from veh to nav: [[0.091306,0.985426,0.143523],[-0.995739,0.088479,0.025970],[0.012892,-0.145283,0.989306]]>H_? ?^??×?@>g?࠘¿e?i>0@I>l4^;>CYN}ByNIVAAVAAbDZVDZBf>BdBfIBf}BBf =Bf?DBdBf;Bf5Eyr;%r`=ٔr;Q-r>9tYt=veFyvDvA<Ez>xQ 54zW?Q 94zbY)z OBYy$¿Q I?zCIz;izH;z+4yɮ!Ajh1=DNOT Ignoring new targets: 99.76 m.RhE9ZhE9U ProNav: ac range: 99.755150 m, nav range: 96.338623 m, bearing: 277.270169 deg, approach rate: -0.518839 m/s, LOS rate: 0.022512 deg/s, cmd heading: 275.819458 deg, new cmd heading: 275.844039 deg. BhU2w:]HeadingCmd: 4.814387 target range: 99.755150 and range: 100.20 m.h]u@hY*hY"ha hagafafafidididijdiZdu@xt?额8~Bɢ) i)"顡i*3i<<\:Iu@Iqchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.000043@ @@/@ԡ^A5NJκI) I9 OM > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251178 n,R,>?A2Ւ@2Й@2%#Iٱ2c_ >AHRS rotation from veh to nav: [[0.094197,0.985148,0.143564],[-0.995478,0.091427,0.025785],[0.012276,-0.145344,0.989305]]2H E?T?Q`?g?`Og?@;$?¿c?i2Ւ@I2^;2CY@yDbDNVDNfٔV:Q-V>9XYX=ZeFyZDZ;E^>`Q 5f4bT?Q 9f4b^)bOBYdyfQ If?bCIbd:ib9:b24ylɮlE%; E%'E!E!"E%Dq;*E%";VE!ZE!BE%6Q ,>?A2w@2A@2Aٱ2=" :AHRS rotation from veh to nav: [[0.096810,0.984931,0.143313],[-0.995233,0.094089,0.025657],[0.011787,-0.145114,0.989345]]2H@ȸ??@X? @4?E? #?¿@?i2w@I2cE_;2CYB}ByFIiEMb@Mb@Mb@AAAA A9ES㥛?V-Mb`YE?yEEEAE&@ EA)E AAYE A]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755227bDeVDeyuU%u<ٔ}:Q-}>9yY=eFyD;E>Q 54?Q 94d)OBY?Q E:yÿQ I?;CI ;iG ;(:4yɮ!AjhDNOT Ignoring new targets: 99.76 m.Rh:Zh: ProNav: ac range: 99.755150 m, nav range: 95.909599 m, bearing: 277.290234 deg, approach rate: -0.546799 m/s, LOS rate: 0.028178 deg/s, cmd heading: 275.869893 deg, new cmd heading: 275.904367 deg. Bh:HeadingCmd: 4.815440 target range: 99.755150 and range: 100.20 m.h@h*h"h hgfff~BdddjdZd@Y@C~Bɢ2@) %i)$jiۃ2i߻<*;I@I)9@ @@/@Ee: EeEe)Ea"Ee\p;*Ee:VEeFA4ZEaam@au@au@au@YAA@AB>B&CBIB}BBBBDB\;Bx5E^A] ; BDAT read: Rx Time:04:11:38.7683  TRx dataTimestamp_ set to:1761538300.188375 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008494I! I1 O= >ԁ ,H??A0:K@:@:8ٱ: BAHRS rotation from veh to nav: [[0.099462,0.984610,0.143703],[-0.994977,0.096776,0.025578],[0.011277,-0.145525,0.989290]]:HQv?? d?LƸ?`1??¿ D?i:K@I:k_;:CYJy}ByJIIN)>)N%=bDVVDVy^ý%^W=ٔbׯ:Q-b>9`Y`=beFyfDf;Ef>hQ 5n4j?Q 9n4ji)jOBYpyrsÿQ Ir?jTCIj+;ijj;j@4ytɮvt"At B*** querying acoustic contact ***i  i jhDNOT Ignoring new targets: 99.76 m.Rh%e9Zh%e95 ProNav: ac range: 99.755150 m, nav range: 95.712967 m, bearing: 277.300072 deg, approach rate: -0.517471 m/s, LOS rate: 0.025943 deg/s, cmd heading: 275.904371 deg, new cmd heading: 275.933946 deg. Bh5p:=HeadingCmd: 4.815956 target range: 99.755150 and range: 100.20 m.h=O@h9*h9"h9 hAgAfAfAfAdIdIdIjdIZdU@c @}H~Bɢ}f޶) Oi)w顁i1i0λq<;IO@I>i>Q@Q @Q@U1@Qԑuchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.259319^A;AfAzAhAII)O=>bE [4jEwX4rE/EU3 EUEU+EQ"EUj;*EU:VEU [4ZEQBEUiMɿMJ >IMBR>Mϩ'@ MVh>)M@IMVhIIMH\g?UMP?9VT'? M"?)MxRIM"iMVhII:publishing transmit ping timePFpublishing direction and range infoyIM-.?,[:/2?YIIIII I)IIIiIIIII I)IIIIIMH\g?UMP?9VT'? I)IIIiIIIYY}ByIiMb@Mb@Mb@ 9L7A`?~jtI +Y+?yļ94  A) AYbD=VD=:yMZ%M'=ٔUQ-U>9QYY=]eFy]D]E]>aQ 54e?Q 94ep)eOBYV?Q E:yr¿Q I?euCIeJ;iey;eSI4yBɮ"AqEiIiM|D,??AJiMBRiMBjiM@bMl)mW@[vE%dſ6@RM-.?,[:/2?ZiM"biMVhjM#!)@KqSW_x6@ZM[ T?:&m?2iMl:iMHA"iMm4??*iM06+BiMBiIiM06+iMBiMBiM@ addTargetRange:: Added new target pos. range: 98.699997 m, deltaT: 3.527857 s, deltaX: -1.500000 m, approachRate: -0.425187 m/s, rangeRepo size: 4  Added new target pos. range: 98.259605 m, bearing: 277.538898 deg, lat: 36.779397 deg, lon: -121.859555 deg, deltaT: 3.527857 s, deltaX: -1.495544 m, approachRate: -0.423924 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 98.26 m.RhZh ProNav: ac range: 98.259605 m, nav range: 95.486847 m, bearing: 277.309383 deg, approach rate: 0.000000 m/s, LOS rate: 0.025943 deg/s, cmd heading: 275.933932 deg, new cmd heading: 275.973801 deg. BhHeadingCmd: 4.816651 target range: 98.259605 and range: 98.70 m.h"@h*h"h hgfff~Bdddjd̬X@Zd?P~Bɢ) vi)5i*1icG<O;I"@I9@ @@0@DY zDY q E , E -E ,E "E c;*E K;VE g4ZE a- @a- @a- @a- @^A jZ;I I1 O= >7,hF??AB<B<B>IB>}BB<B<B<B>7;B>e5EBE'CBE'CBABE =BE =CEsa5:#@:^@: /ٱ:w VAHRS rotation from veh to nav: [[0.103626,0.984000,0.144934],[-0.994559,0.100949,0.025725],[0.010682,-0.146811,0.989107]]:H5?|?1?`m ׹?W??`¿æ?i:#@I:^;:CY^G}By^IbDfVDfynb%n=ٔr:Q-r ?9pYt=veFyvDvU<Ev ?|Q 54~?Q 94~u)~OBYyQ I?~CI~|:i~t:~N4yɮ#Ajh9=DNOT Ignoring new targets: 98.26 m.RhE9ZhE9Q] ProNav: ac range: 98.259605 m, nav range: 95.317291 m, bearing: 277.316706 deg, approach rate: -0.570175 m/s, LOS rate: 0.024669 deg/s, cmd heading: 275.973793 deg, new cmd heading: 275.995801 deg. Bh]p:eHeadingCmd: 4.817036 target range: 98.259605 and range: 98.70 m.he(%@ha*ha"ha hagafififidqdqdqjdqZd}`/?颥S~Bɢ) Hi)顩iw0iʪC<>ԩ ',r2`??Aɰp;2.@2)@2.ٱ2d :AHRS rotation from veh to nav: [[0.104987,0.983828,0.145120],[-0.994416,0.102290,0.025941],[0.010677,-0.147033,0.989074]]2Hf?@{?L? B/?G?݅?¿@~?i2.@I2'^;2CYb}BybIbD] VD]2yuս%B=ٔ)F7Q->9Y=eFyDiR;E>Q 54Թ ?Q 94 {)OBYyQ I?CII;i J;cV4yɮ#AE6 E#E%E"El;*E;VE 4ZEBEKA >A A I I O >,${??A2%4@2.@2 5ٱ2q >AHRS rotation from veh to nav: [[0.105636,0.983721,0.145375],[-0.994343,0.102870,0.026435],[0.011049,-0.147345,0.989023]]2H ?z? ?`U???1¿?i2%4@I2Z^;2CYF}ByFIi]Mb@Mb@Mb@YYYY Y9]On?Q~jtY]?y]u]ļ]QA]=@ ]A)]AYY] AbDuVDuyM%A=ٔ1hQ->9Y=eFԑyD:E>Q 54l"?Q 94)OBY?Q E:yuQ I?CI;i!;]4yɮ($AjhDNOT Ignoring new targets: 98.26 m.Rh"9Zh"9 ProNav: ac range: 98.259605 m, nav range: 94.842796 m, bearing: 277.334243 deg, approach rate: -0.601029 m/s, LOS rate: 0.019248 deg/s, cmd heading: 276.024555 deg, new cmd heading: 276.048561 deg. Bh\S:HeadingCmd: 4.817956 target range: 98.259605 and range: 98.70 m.h,@h*h"h  h g f ff7~BdddjdZd@`?E^~BɢE )I M iI)MIQiUD.iU]E<]CB!B%IB%}BB% =B!B!B%5;B!A .AII)O5q> ,??A2e5@2/0@2߳=ٱ2 :AHRS rotation from veh to nav: [[0.105787,0.983674,0.145584],[-0.994321,0.102936,0.027005],[0.011578,-0.147614,0.988977]]2H?Az?|?{Y?,? Y?@¿?i2e5@I2eW^;2CYB|ByBIbDJVDJJyR%RZ=ٔV Q-V>9V ?YV ?=ZeFyZDZ$9EZ>\Q 54^#?Q 94^q)^OBY!y%pQ I%?^CI^;i^ ;^?d4y)ɮ-$A)MB*** querying acoustic contact ***iI iIjhQ]DNOT Ignoring new targets: 98.26 m.Rhe9Zhe9m ProNav: ac range: 98.259605 m, nav range: 94.620293 m, bearing: 277.341366 deg, approach rate: -0.577986 m/s, LOS rate: 0.018546 deg/s, cmd heading: 276.048570 deg, new cmd heading: 276.069989 deg. BhuK:uHeadingCmd: 4.818330 target range: 98.259605 and range: 98.70 m.h}/@hy*hy"hy hgfffdddjdZd=?颽c~Bɢr) ji)i2-i_E<r} (DAT read: user:89>  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.989504E),BЮ??A44VI4@V/@V:MGٱV ^AHRS rotation from veh to nav: [[0.105652,0.983712,0.145424],[-0.994329,0.102719,0.027551],[0.012164,-0.147510,0.988986]]VH  ?z?`D?K?C6??¿`ť?iVI4@IV];VCYf|ByfsIonly read 3 of 4 data items for beam range. Device response is::RA, 0.00, 95.24, 86.02, 85.00 a@a a@a a@a  a @a  bDVD:y%ܛ%%B=ٔ%ƶQ-%>9-"?Y-"?=-eFy-D-E5>9Q 5=4=k%?Q 9E4=)= OBQ AE+:YAQ EE:yEtQ IE?=CI=:i=|>=2j4yQɮU#%AQjhDNOT Ignoring new targets: 98.26 m.RhĬ9Zh%Ĭ9- ProNav: ac range: 98.259605 m, nav range: 94.369888 m, bearing: 277.349443 deg, approach rate: -0.583802 m/s, LOS rate: 0.018880 deg/s, cmd heading: 276.069990 deg, new cmd heading: 276.094284 deg. QBhUQO:]HeadingCmd: 4.818754 target range: 98.259605 and range: 98.70 m.h]<3@hY*ha"ha hagafafifidididjdZd7@h~Bɢ) ZѾi)ji+izr1B< B >B 'CB IB 3}BB =B >DB DB ;B W5E,r??A2,@2'@2HWٱ2ܖ :AHRS rotation from veh to nav: [[0.104764,0.983822,0.145321],[-0.994410,0.101697,0.028397],[0.013159,-0.147484,0.988977]]2HѺ?x{? ?4@???¿?i2,@I2];2CYB|ByBjIbDNVDNkyV\%VR=ٔV'Q-V>9XYX=ZeFyZ'DZhE^>`Q 5f4b&?Q 9f4b)bOBQ Af :YdQ Efi:yfQ If?b"CIb:ibL?bn4ynBɮnS%An{EjhDNOT Ignoring new targets: 98.26 m.Rh 9Zh 9 ProNav: ac range: 98.259605 m, nav range: 94.138565 m, bearing: 277.357067 deg, approach rate: -0.628118 m/s, LOS rate: 0.020755 deg/s, cmd heading: 276.094278 deg, new cmd heading: 276.117209 deg. Bhc:HeadingCmd: 4.819154 target range: 98.259605 and range: 98.70 m.h6@h*h"h hgfffdddiYIY]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.492468ԱjdZdA@l~Bɢ!) ھi ) -$  i S>*i5]e55<5a;I56@I99@ @@0@^A <  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.744127A I! I9 OE >8<,??AyJ+!@J@JBlٱJ9 RAHRS rotation from veh to nav: [[0.103328,0.983993,0.145196],[-0.994542,0.100088,0.029465],[0.014461,-0.147448,0.988964]]JH`s?|?ʕ? J`_?@ ,??¿?iJ+!@IJڷ];JCYZ|ByZgIEb2 Eb&Eb-E`"Ebi;*Eb;VEbt4ZE`BEb)9|Y|=eFy/DdE> Q 54 `(?Q 94 ) NBQ A9YQ E=:yQ I? ACI : ;i `? ~r4y!ɮ%d%A)jhIUDNOT Ignoring new targets: 98.26 m.RhUӹ9ZhUӹ9e ProNav: ac range: 98.259605 m, nav range: 93.891899 m, bearing: 277.365457 deg, approach rate: -0.595501 m/s, LOS rate: 0.020308 deg/s, cmd heading: 276.117200 deg, new cmd heading: 276.142435 deg. Bhe^:mHeadingCmd: 4.819595 target range: 98.259605 and range: 98.70 m.hm:@hi*hq"hq hqgfffdddjdZd%YV@mp~BɢmД() ;߾i)R$顑iq(iV<$;I:@ II9@ @@0@BDAT read: Rx Time:04:11:42.3653 TRx dataTimestamp_ set to:1761538303.720384checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0029699^AE oM<AM >AM >i A I I O >c,Z??A 2%@2@2Zٱ2K >AHRS rotation from veh to nav: [[0.101988,0.984234,0.144504],[-0.994663,0.098614,0.030344],[0.015615,-0.146827,0.989039]]2H ?~??G`>?r? ?<¿4?i2%@I2];2CYB|ByFbI HHbchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.248117aa aa aa aa iMb@Mb@Mb@ 9n?Mbp?y&1YV.?y;`eA@ A)AYzA@AbDVDyԌ%?=ٔ(1Q->9Y=eFy8DZNE>Q 54*?Q 941)NBQ AT:Y`.?Q E:yQ I?gCI;i;y4yɮ%Ajh DNOT Ignoring new targets: 98.26 m.Rh/49Zh/49- ProNav: ac range: 98.259605 m, nav range: 93.600883 m, bearing: 277.369657 deg, approach rate: -0.680111 m/s, LOS rate: 0.009846 deg/s, cmd heading: 276.142444 deg, new cmd heading: 276.155083 deg. Bh-99-HeadingCmd: 4.819816 target range: 98.259605 and range: 98.70 m.h5;@h1*h1"h1 h1g1f9f9f=}Bd9dAdAjdAZdE@3 @ u~Bɢ *) i)7*i'i%O-<-LW;IM;@IQqE* E!E,E"Ea;*E:VEg4ZEa@a@a@a@9@ @ @ 4@ B>BBIB|BBBBB;BU5EԙDAT read: 04:11:42.3653 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 417, 0.10, 2.351, 0.610, 2.510, 2.219, PHS= 0.234,-1.565, 0.247, RAW= 150.4, 12.0, CAL= 150.3, 13.2, ROT= 359.7, -13.2 Ygot valid direction response: 04:11:42.3653 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 417, 0.10, 2.351, 0.610, 2.510, 2.219, PHS= 0.234,-1.565, 0.247, RAW= 150.4, 12.0, CAL= 150.3, 13.2, ROT= 359.7, -13.2 ^A ;  PDAT read: Bearing 87.7, -1.4 (Local)  ~Local bearing/azimuth received: Bearing 87.7, -1.4 (Local)  DAT read: Range 11 to 50 : 96.4 m (Round-trip 128.6 ms) speed 0.7 m/s - RDAT read: user:90>Tx time:04:11:43.4310 5 R#Rx 1: Read range and direction messages.= ^direction in FSK: [0.973566,-0.005098,0.228351]E Fpublishing direction and range infoy{Yr'?g;t :?YB )GIo>iQȿ|>'@PwV>'@ k>)@Ik>½?~٣?3Cd? 8?)-.VIik] T****** received valid address query ******] R****** received valid ping request ******] Querying Benthos address 50 with one ping in standard two-way mode.A .AI I O >RL,8@?A2 @2@2Mٱ2 :AHRS rotation from veh to nav: [[0.100152,0.984309,0.145280],[-0.994830,0.096598,0.031331],[0.016806,-0.147667,0.988894]]2H ?t?`? ?` ?5?¿?i2 @I2H];2CLYV|ByVdIbD]VD]1ymg;%mN=ٔuEQ-u>9 ?Y ?=eFy@DE>Q 54P-?Q 94R)NBYyݻQ I?CId;i;4yɮx%Aii5@?AJiBRiBji@b#[W@ yO߿|EJ5@R{Yr'?g;t :?ZibikjjN((@{pW9&wP7@Z ?16оO?2i:i@A"iAє%?*iD_%BiBiAє%?i";*iBiBi@ addTargetRange:: Added new target pos. range: 96.400002 m, deltaT: 3.530337 s, deltaX: -2.299995 m, approachRate: -0.651495 m/s, rangeRepo size: 4  Added new target pos. range: 95.971588 m, bearing: 277.443152 deg, lat: 36.779398 deg, lon: -121.859554 deg, deltaT: 3.530337 s, deltaX: -2.288017 m, approachRate: -0.648102 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 95.97 m.RhZh ProNav: ac range: 95.971588 m, nav range: 93.307625 m, bearing: 277.426539 deg, approach rate: 0.000000 m/s, LOS rate: 0.009846 deg/s, cmd heading: 276.155094 deg, new cmd heading: 276.167382 deg. BhHeadingCmd: 4.820030 target range: 95.971588 and range: 96.40 m.h=@h*h"h hgfffdddjdX@Zdක?DAT read: checking for new query: numPingsReceived=0, elapsed TxPingTime=3.752584Ey~BɢE"$) i)f1顉i&iH<MK;I=@IA@A @A@E4@IE2 EE'E"Ei;*E]:VE'4ZEBEa2EaJEK ,K1@?A2@2@2qٱ2Z >AHRS rotation from veh to nav: [[0.098067,0.984561,0.144992],[-0.995012,0.094324,0.032484],[0.018306,-0.147455,0.988899]]2H???`"%?`?ɾ?¿?i2@I2_];0YF|ByF_IiMMb@Mb@Mb@IIII I9Mgfffff?Mb`?YM33?yMM;M;AM@ I)IIYMAbDeVDek1y}%}>=ٔ}RdQ-}>9"?Y"?=eFyIDE>Q 54/?Q 94")OBY33?Q E:ynQ I?CI:i:g4yBɮ%AEB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 95.97 m.Rhl~9Zhl~9 ProNav: ac range: 95.971588 m, nav range: 93.009422 m, bearing: 277.432226 deg, approach rate: -0.726735 m/s, LOS rate: 0.013902 deg/s, cmd heading: 276.167388 deg, new cmd heading: 276.184502 deg. Bh:HeadingCmd: 4.820329 target range: 95.971588 and range: 96.40 m.h"@@h*h"h hgfff}Bddd jd Zd @P?=}~Bɢ=X8)9 =i9)Ed6AAiEC$iM>MB B B ~IB |BB =B B B ;B R5E|,uK@?A:@:wۙ@:0ٱ:A BAHRS rotation from veh to nav: [[0.095487,0.984579,0.146584],[-0.995240,0.091548,0.033406],[0.019471,-0.149076,0.988634]]:Hq?`?A?o?@?`S?`ÿ?i:@I:B];:CYJ|ByJoIP TV<bDVVDVy^ډ=%bX=ٔbIQ-b>9`Yd=feFyfPDfEf>hQ 5n4j1?Q 9r4j)jOBYpyrüQ Ir?jCIj#;ij;j4yvBɮv%AzEjhDNOT Ignoring new targets: 95.97 m.Rh%9Zh%95 ProNav: ac range: 95.971588 m, nav range: 92.744675 m, bearing: 277.437728 deg, approach rate: -0.700163 m/s, LOS rate: 0.014593 deg/s, cmd heading: 276.184491 deg, new cmd heading: 276.201045 deg. Bh5> :=HeadingCmd: 4.820618 target range: 95.971588 and range: 96.40 m.h=B@h9*h9"h9 h9gAfAfAfAdIdIdIjdIZdM?checking for new query: numPingsReceived=0, elapsed TxPingTime=4.508127颅~Bɢ=50) =i)J<顉ik#il57<㦺IB@IU9@Q @Q@U/@Q^Aurg:5 checking for new query: numPingsReceived=0, elapsed TxPingTime=4.760140A I I O >) bEFA4jEmF4rE҄0E= & E= E= +E9 "E= 8^;*E= :VE= [4ZE9 BE= ٱ2 :AHRS rotation from veh to nav: [[0.093627,0.984410,0.148901],[-0.995396,0.089473,0.034366],[0.020508,-0.151433,0.988255]]2H`?H?1? I ?x?@?`*bÿȟ?i2aђ@I2c];2CY^|By^sIbDjVDjN|yUFY<%UA=ٔ]_ Q-]>9aYa=eeFyeYDekEm>iQ 5u4mH4?Q 9}4mտ)mOBYyy}Q I}?mCIm;imT;ml4yɮ$AjhDNOT Ignoring new targets: 95.97 m.Rh9Zh9 ProNav: ac range: 95.971588 m, nav range: 92.448364 m, bearing: 277.444266 deg, approach rate: -0.699510 m/s, LOS rate: 0.015483 deg/s, cmd heading: 276.201047 deg, new cmd heading: 276.220724 deg. Bh*:HeadingCmd: 4.820961 target range: 95.971588 and range: 96.40 m.hPE@h*h"h hgfffdddjdZd ?~Bɢ)) 7߾i)GYB!!i%"i%+*-<-/AI-PE@I)@ @@@1checking for new query: numPingsReceived=0, elapsed TxPingTime=5.014740Q^AmNJκԁ A .AI I O >= checking for new query: numPingsReceived=0, elapsed TxPingTime=5.264023,-@?A2ǒ@2™@2㯼ٱ2 :AHRS rotation from veh to nav: [[0.092476,0.984519,0.148898],[-0.995483,0.088191,0.035145],[0.021469,-0.151475,0.988228]]2H ?.?`? ???@cÿ ?i2ǒ@I2O<];0YB|ByBzIaiMb@Mb@Mb@ 9@5^I ?MbPy&1?Yb0?y`e<A@ A)tAYbDVD2y<%?=ٔQ->9 ?Y ?=%eFy%bD%0E%>)Q 554-6?Q 954-)-OBY=k0?Q E=:y=Q I=?-CI- ;i-m ;-蝠4yAɮE$AIjhE! EE)E"EY;*EA:VEFA4ZEa@a@a@a@ DNOT Ignoring new targets: 95.97 m.Rh9Zh9% ProNav: ac range: 95.971588 m, nav range: 92.153625 m, bearing: 277.450800 deg, approach rate: -0.663164 m/s, LOS rate: 0.014749 deg/s, cmd heading: 276.220718 deg, new cmd heading: 276.240383 deg. Bh%!:-HeadingCmd: 4.821304 target range: 95.971588 and range: 96.40 m.h- H@h1*h1"h1 h1g1f9f9f=}Bd9dAdAjdAZdE?~Bɢ%)  ۾i)¿Hi[a!i%Q<腻I H@IԉB>B(CBIB|BBBBB;;Bo5EBQBQBQBUĽ =BUĽ =CUΛ5@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=5.516139Ա^Am 7Am >Am ? A ؟AI I O >%,w@?A2Ծ@2@2ȶٱ24 :AHRS rotation from veh to nav: [[0.091369,0.984634,0.148824],[-0.995567,0.086972,0.035804],[0.022311,-0.151435,0.988215]]2H c?@? ?C?T?ؖ?`9~"?Y~"?=~eFy~iD~lFE>Q 5 48?Q 94+)'OBYy#Q I?>CIY;i?;P4yɮ%&$A!jhAMDNOT Ignoring new targets: 95.97 m.RhU֗9ZhU֗9e ProNav: ac range: 95.971588 m, nav range: 91.901230 m, bearing: 277.456603 deg, approach rate: -0.719642 m/s, LOS rate: 0.016593 deg/s, cmd heading: 276.240389 deg, new cmd heading: 276.257848 deg. Bhe46:mHeadingCmd: 4.821609 target range: 95.971588 and range: 96.40 m.hmJ@hi*hi"hi higifqfqfqdydydyjdyZd ޾@颭~Bɢ)-) 8ɾiԱ)M项i| i<IJ@II)eAchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.768861m9@i @i@m0@qE+ EE'E"Eb;*Ex:VE'4ZEBE checking for new query: numPingsReceived=0, elapsed TxPingTime=6.022425A !,,@?A2@2@2ٱ2h :AHRS rotation from veh to nav: [[0.090896,0.984548,0.149674],[-0.995602,0.086414,0.036194],[0.022701,-0.152306,0.988073]]2HD?k?(?>?`?>?~ÿJ?i2@I2MA];2CYB }ByBIi Mb@Mb@Mb@     9  r?{Gzty&1?Y #?y ף `<  @ )  Y AbD}VD}y=%A=ٔqQ->9Y=eFyrDE>Q 54:?Q 94@)9OBY#?Q E:yQ I?`CI:i:4yBɮ#AEB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 95.97 m.Rhƒ9Zhƒ9 ProNav: ac range: 95.971588 m, nav range: 91.631142 m, bearing: 277.463387 deg, approach rate: -0.636744 m/s, LOS rate: 0.016040 deg/s, cmd heading: 276.257847 deg, new cmd heading: 276.278258 deg. Bh 0: HeadingCmd: 4.821965 target range: 95.971588 and range: 96.40 m.h M@h *h "h  h g fff~Bd!d!d!jd!Zd-R%@U~BɢU)Y ]涾iY)]RYYi]ieD eiB >B 'CB IB }BB B B B ;B 5Eԙ 3,w@?A6;@6@6ٱ6 BAHRS rotation from veh to nav: [[0.090687,0.984511,0.150043],[-0.995616,0.086163,0.036397],[0.022905,-0.152686,0.988009]]6H I7? ?4?@?? lt?`9ÿŝ?i6;@I6c];6CY^$}BybIbDrVDrJy~7<%~T=ٔ Q->9Y= eFy zD NE >Q 54 checking for new query: numPingsReceived=0, elapsed TxPingTime=6.776046 E% . E% !E% 'E! "E% ye;*E% :VE% '4ZE! BE% 9Y=eF GyDE>%9!Y% A)Q 554->?Q 954- )-^OBY9y9Q I=?-CI-/;i-];-$4yAɮE#AAjhDNOT Ignoring new targets: 95.97 m.Rh H9Zh H9 ProNav: ac range: 95.971588 m, nav range: 91.104767 m, bearing: 277.476787 deg, approach rate: -0.611568 m/s, LOS rate: 0.015658 deg/s, cmd heading: 276.297025 deg, new cmd heading: 276.318571 deg. Bh+:HeadingCmd: 4.822669 target range: 95.971588 and range: 96.40 m.hNS@h*h"h hgfffdddjdchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.030640Zd @ ~Bɢt) i)%1\!!i%R'i-2򺿉-w1<5acػI5NS@I1Et>iE!>@ @@1@) M DAT read: 04:11:45.9602 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 413, 0.17, 1.709,-0.060, 1.868, 1.551, PHS= 0.260,-1.566, 0.274, RAW= 150.4, 11.3, CAL= 150.2, 12.4, ROT= 359.8, -12.4 U Ygot valid direction response: 04:11:45.9602 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 413, 0.17, 1.709,-0.060, 1.868, 1.551, PHS= 0.260,-1.566, 0.274, RAW= 150.4, 11.3, CAL= 150.2, 12.4, ROT= 359.8, -12.4 ] PDAT read: Bearing 87.1, -1.1 (Local) ] ~Local bearing/azimuth received: Bearing 87.1, -1.1 (Local) m DAT read: Range 11 to 50 : 93.7 m (Round-trip 125.0 ms) speed 0.4 m/s u RDAT read: user:91>Tx time:04:11:47.0310 ԁ  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.976666,-0.003409,0.214735] Fpublishing direction and range infoy  ׍@?"Zkh`r|?Y fB     ) FI >i rȿ I>  I> g'@  k]>) B@I k]   (6A?j@?+y?  ?) 2II di k]   T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.^A5 [RӻI I O >@,֧A?A¿@@eٱ(DIDM<EU/ EU)EU,EQ"EUaf;*EU0;VEUg4ZEQa]@a]@a]@a]@ AHRS rotation from veh to nav: [[0.091481,0.984273,0.151125],[-0.995544,0.086911,0.036583],[0.022873,-0.153798,0.987838]]H Gk?`)? X?`??`?l?ÿ]?i¿@IS];CYb}ByIB>BBIBQ}BB =BBB;B5EiEMb@Mb@Mb@AAAA A9EA`"?I +:v?YE?yE94E9qYq=ueFyuD}:E>Q 54@?Q 94)sOBYB?Q E:yξQ I?CI:i: 4yɮ{"Aii@?AJiBRiBji@b٦V@|nZԿnt4@R׍@?"Zkh`r|?Zidbik]j!ݍM&@VtcN5@Z.X:R?SEKM2?2i:i0A"ic㞊?*i *BiBie8힊?i *iBi^Biɾ@- addTargetRange:: Added new target pos. range: 93.699997 m, deltaT: 3.777357 s, deltaX: -2.700005 m, approachRate: -0.714787 m/s, rangeRepo size: 4  Added new target pos. range: 93.282837 m, bearing: 276.999133 deg, lat: 36.779392 deg, lon: -121.859554 deg, deltaT: 3.777357 s, deltaX: -2.688751 m, approachRate: -0.711808 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 93.28 m.RhZh ProNav: ac range: 93.282837 m, nav range: 90.684547 m, bearing: 277.070303 deg, approach rate: 0.000000 m/s, LOS rate: 0.015658 deg/s, cmd heading: 276.318581 deg, new cmd heading: 276.341695 deg. BhHeadingCmd: 4.823072 target range: 93.282837 and range: 93.70 m.hV@h*h"h hgfff~Bddd jd lW@Zd 9z?u~Bɢum)y }diy)}`yyii亿<ͻIV@IDAT read: checking for new query: numPingsReceived=0, elapsed TxPingTime=7.533897m9@i @i@m4@i!I ^A I I O >-G, aA?A>hǒ@>2™@>ٱ> FAHRS rotation from veh to nav: [[0.092411,0.984093,0.151725],[-0.995465,0.087851,0.036500],[0.022590,-0.154409,0.987749]]>H:?}?k?`h}??@!?ÿ?i>hǒ@I>]];AE>ԑ- checking for new query: numPingsReceived=0, elapsed TxPingTime=8.038786AI Iq I O >Թ \+M,<7A?AY~}By~I iMb@Mb@Mb@ 9n?V-9Y=eFyDE>Q 54B?Q 94+)OBY?Q E:y,ÿQ I?CI:i:Ϡ4yɮ!AEB*** querying acoustic contact ***i ijh!-DNOT Ignoring new targets: 93.28 m.Rh-J9Zh-J9= ProNav: ac range: 93.282837 m, nav range: 90.256691 m, bearing: 277.087227 deg, approach rate: -0.553638 m/s, LOS rate: 0.027353 deg/s, cmd heading: 276.356585 deg, new cmd heading: 276.392585 deg. BhE,:EHeadingCmd: 4.823961 target range: 93.282837 and range: 93.70 m.hE]@hI*hI"hI hIgIfIfQfU~BdQdYdYjdYZd]?颅~BɢW) Si)K9g顉ԑiujiǺ<лI]@I-9@) @)@5/@1@9@=dAuchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.288299DqzDu@AE}* E} E}'Ey"E}a;*E}:VE}'4ZEya@a@a@a@^AM3B>BBIB}BBBBB;B5EAa Ii Iy O > checking for new query: numPingsReceived=0, elapsed TxPingTime=8.540004! QT,QA?AY }By IbDVDyeT=%eQ=ٔiQ-m>9iYi=ueFyuDqEu>yQ 54}C?Q 94})}OBYyQ I?}CI}-:i}:}֠4yɮ|!AjhDNOT Ignoring new targets: 93.28 m.Rh9Zh9 ProNav: ac range: 93.282837 m, nav range: 90.039803 m, bearing: 277.097968 deg, approach rate: -0.554414 m/s, LOS rate: 0.027523 deg/s, cmd heading: 276.392593 deg, new cmd heading: 276.424895 deg. Bh:HeadingCmd: 4.824524 target range: 93.282837 and range: 93.70 m.hb@h*h"h hgfffdddjdZdN?%~Bɢ%s)! %u|i!)- bj))i-*i5f5Q<5I5b@I99@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=8.794899^A5[RӻI I) I9 OM >E $ E E )E "E g\;*E :VE FA4ZE BE 0AHRS rotation from veh to nav: [[0.097665,0.983838,0.150082],[-0.995006,0.093407,0.035182],[0.020594,-0.152769,0.988047]]2H?{?`5?`?@R?`?ÿ?i2@I2$];2CYF}ByFIbDVVDV:y^%bV=ٔbª;Q-f>9dYd=jeFyjDj.a<En>pQ 5z4rD?Q 9z4r)rOBY|y~¿Q I?r8CIr(S;irVT;rݠ4y ɮ !AjhIUDNOT Ignoring new targets: 93.28 m.Rh9Zh9 ProNav: ac range: 93.282837 m, nav range: 89.826469 m, bearing: 277.107871 deg, approach rate: -0.548588 m/s, LOS rate: 0.025525 deg/s, cmd heading: 276.424886 deg, new cmd heading: 276.454665 deg. Bh$:HeadingCmd: 4.825044 target range: 93.282837 and range: 93.70 m.hf@h*h"h hgf!f)f1dQdYdYjdYZd]d?checking for new query: numPingsReceived=0, elapsed TxPingTime=9.046904E~BQɢMV) i)m顡iMTiea<tIf@Iy9@ @@/@@%=@%=ԩ  checking for new query: numPingsReceived=0, elapsed TxPingTime=9.296545^A] Ai zAm dA IY Ii Ou >a,-A?AE" EEE"EZ;*E:VEZEa@a@a@a@V@V@VٱVb bAHRS rotation from veh to nav: [[0.100004,0.983683,0.149556],[-0.994789,0.095852,0.034739],[0.019837,-0.152251,0.988143]]VH@♹?Tz?$?`P?`\ɡ?=P?|ÿݞ?iV@IV`];VCYj}Byj IB=>B=(CB=IB=}BB= =B9B=DB=;B=5EiuMb@Mb@Mb@qqqq q9u?{Gz9Y=eFyD\;E>Q 54E?Q 94)OBY?Q E:yQ I?XCI:i:4yɮ!AjhDNOT Ignoring new targets: 93.28 m.Rh89Zh89ԉ ProNav: ac range: 93.282837 m, nav range: 89.581490 m, bearing: 277.117111 deg, approach rate: -0.529421 m/s, LOS rate: 0.020023 deg/s, cmd heading: 276.454666 deg, new cmd heading: 276.482462 deg. Bh[:HeadingCmd: 4.825529 target range: 93.282837 and range: 93.70 m.hj@h*h"h hgfff~BdddjdZd @Z@M~BɢM()Q UMkiQ)U&qQQiUi]|e{ Eg,uA?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=9.801595 @ @ ٱ + AHRS rotation from veh to nav: [[0.102050,0.983442,0.149757],[-0.994594,0.097967,0.034414],[0.019173,-0.152459,0.988124]] H ?\x?:+?_?`??`ȃÿ?i @I b]; CY-}By- IbDEVDEkyU;%UP=ٔU3:Q-]>9YYY=]eFy]De;Ee>iQ 5u4m$G?Q 9u4m_ )mOBYqyuuQ I}?mrCImU;im;m4yɮ!AjhDNOT Ignoring new targets: 93.28 m.Rhȯ9Zhȯ9 ProNav: ac range: 93.282837 m, nav range: 89.375114 m, bearing: 277.124660 deg, approach rate: -0.523904 m/s, LOS rate: 0.019210 deg/s, cmd heading: 276.482451 deg, new cmd heading: 276.505153 deg. BhR:HeadingCmd: 4.825925 target range: 93.282837 and range: 93.70 m.hm@h*h"h hgfffdddjdZd&@ ~Bɢ \)  Aki)t顑iz%i:<ͷIm@IbEjEFA4rE0E5! E1E5,E1"E5Y;*E1VE5g4ZE1BE5֬Ա n,bغA?A2'@2"@2iٱ2[ :AHRS rotation from veh to nav: [[0.104119,0.983226,0.149756],[-0.994392,0.100104,0.034126],[0.018563,-0.152469,0.988134]]2H?v?`3+?`e?y?%?`ÿ˞?i2'@I2];09AYA=EeFyEDM;EM>IQ 5]4MVH?Q 9]4M)MOBY]?Q E]:y]>Q Ie?MCIM ;iM ;M4ymBɮm!AmEB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 93.28 m.Rh9Zh9- ProNav: ac range: 93.282837 m, nav range: 89.169060 m, bearing: 277.132007 deg, approach rate: -0.513798 m/s, LOS rate: 0.018362 deg/s, cmd heading: 276.505155 deg, new cmd heading: 276.527247 deg. Bh-I:UHeadingCmd: 4.826311 target range: 93.282837 and range: 93.70 m.hU$q@hQ*hQ"hY hYgYfYfYfe~BdadadajdaZdm @~BɢbS) Xi)}wiOZiz<k:I$q@I=BDAT read: Rx Time:04:11:49.5579 ETRx dataTimestamp_ set to:1761538311.025159M2Acoustic response timeoutUx>iU)>ԩ9@ @@4@@ fA@ fAEE) EEEAEA"EE`;*EE]:VEAZEAaM@aM@aM@aM@BABABE IBE}BBE =BABABE;BE5EBBBBǼ =BǼ =CǿT5^AE 9I I O >  2Acoustic response timeoutt,A?A25;@26@2Ǔٱ2 :AHRS rotation from veh to nav: [[0.106483,0.982987,0.149661],[-0.994151,0.102522,0.033960],[0.018039,-0.152402,0.988154]]2HyB?t?(?>? 0c?x?ÿ ?i25;@I2];2CYB}ByBIbDJVDJ1yRw%VT=ٔV:Q-V>9TYX=ZeFyZDZT;EZ>\Q 5b4^I?Q 9f4^)^OBYdyfQ If?^CI^:i^:^T4yhɮj!AlljhDNOT Ignoring new targets: 93.28 m.Rh 9Zh 9- ProNav: ac range: 93.282837 m, nav range: 88.970909 m, bearing: 277.138801 deg, approach rate: -0.514483 m/s, LOS rate: 0.017677 deg/s, cmd heading: 276.527257 deg, new cmd heading: 276.547682 deg. Bh-B:HeadingCmd: 4.826668 target range: 93.282837 and range: 93.70 m.ht@h*h"h hgffAfIdQdydjdZd@A @M~Bɢ ) /i)"w{iy i--o-l<-_C;I-t@I1@ @@2@E=ADAT read: 04:11:49.5579 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 421, 0.02, 1.611,-0.100, 1.789, 1.517, PHS= 0.196,-1.572, 0.228, RAW= 150.9, 12.8, CAL= 150.9, 14.2, ROT= 359.1, -14.2 Ygot valid direction response: 04:11:49.5579 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 421, 0.02, 1.611,-0.100, 1.789, 1.517, PHS= 0.196,-1.572, 0.228, RAW= 150.9, 12.8, CAL= 150.9, 14.2, ROT= 359.1, -14.2 PDAT read: Bearing 89.2, -1.7 (Local) ~Local bearing/azimuth received: Bearing 89.2, -1.7 (Local) DAT read: Range 11 to 50 : 92.0 m (Round-trip 122.7 ms) speed 0.6 m/s 9(DAT read: user:92> BDAT read: Tx time:04:11:50.6310 $Ping request sent.iEL7ɿExi>E(@Ed>E(@ E}>)E-@IE}AAE3B??Uzd? E ?)E eIEiE}AA:publishing transmit ping timeFpublishing direction and range infoyAEs.q?T~U3s//;f?YAAAAA A)AIAiAAAAA A)AIAAAE3B??Uzd? A)AIAiAAAEu + Eu Eu -Eq "Eu b;*Eu :VEu t4ZEq BEu {,ŠA?ARO@RJ@RǐٱR  ZAHRS rotation from veh to nav: [[0.109000,0.982957,0.148039],[-0.993885,0.105119,0.033810],[0.017672,-0.150819,0.988403]]RH@g?@at?@?@?`O? ? Nÿ@?iRO@IR~ ^;RC9Y=}ByEIbDVD0y%<=ٔ$]:Q->9Y=eFyDT;E> Q 5M4 J?Q 9M4  ) OBYyy}Q I? CI %e,~ B?AAAAAB>BBIB}BB =BBB;B5ELY-y}By-IiMb@Mb@Mb@ 9/$?y&1|:vY1?y`廙TA&@  A) AY= AbDVD:2yo>%7=ٔQ->9Y=eFyDE>Q 54L?Q 94$)OBY>?Q E:y7Q I?CI:i: 4y ɮ "A jh15DNOT Ignoring new targets: 91.59 m.Rh=Ō9Zh=Ō9M ProNav: ac range: 91.592293 m, nav range: 88.586250 m, bearing: 277.531883 deg, approach rate: -0.611135 m/s, LOS rate: 0.015384 deg/s, cmd heading: 276.574358 deg, new cmd heading: 276.591753 deg. BhM(:UHeadingCmd: 4.827437 target range: 91.592293 and range: 92.00 m.hU]z@hQ*hQ"hY hYgYfYfYfe~BdadadajdaZdm?M~BɢM)I MiI)U9ȁQQiUxi]U]wr<]);I]]z@Ia9@9 @9@A@A@M=@M=^A ;! A5 .AII Iq O >,J$B?A:ol@::g@:ٱ:d FAHRS rotation from veh to nav: [[0.112456,0.982805,0.146452],[-0.993504,0.108624,0.033932],[0.017440,-0.149317,0.988636]]:Hɼ?@#s?@?λ?_?ۑ? ÿ@?i:ol@I: t^;:CYNb}ByNIIRp=)Ri>bDZ VDZ2yb%b_=ٔb%:Q-f>9f ?Yf ?=feFyfDj$<Ej>lQ 5r4nVN?Q 9r4n0))nOBYpyrļQ Iv?nCIn+;in;n4yxɮzw"Ax|jh%DNOT Ignoring new targets: 91.59 m.Rh-f_9Zh-f_9= ProNav: ac range: 91.592293 m, nav range: 88.391029 m, bearing: 277.536363 deg, approach rate: -0.530764 m/s, LOS rate: 0.012207 deg/s, cmd heading: 276.591762 deg, new cmd heading: 276.605231 deg. Bh= :EHeadingCmd: 4.827672 target range: 91.592293 and range: 92.00 m.hEJ|@hA*hA"hA hAgIfIfIfIdQdQdQjdQZdU`Q?颅~BɢV() ui)U顉ibiBNc<Q;IJ|@IE! E%E%'E!"E!*E%A:VE%'4ZE!BE%ԁ Hю,-&>B?A2w@2tr@2Ivٱ2  :AHRS rotation from veh to nav: [[0.113818,0.982718,0.145982],[-0.993349,0.109993,0.034035],[0.017390,-0.148885,0.988702]]2H)#? mr??(?l?@Α?@ÿq?i2w@I2Pg^;2CYBE}ByBIiEMb@Mb@Mb@AAAA A9EGz?Mb`9"?Y"?=eFyDpN;E>Q 54P?Q 94/)OBY?Q E:yQ I?CI^;is;4yBɮ"AEMB*** querying acoustic contact ***iI iIjhQUDNOT Ignoring new targets: 91.59 m.Rh]9Zh]9m ProNav: ac range: 91.592293 m, nav range: 88.144806 m, bearing: 277.540474 deg, approach rate: -0.517270 m/s, LOS rate: 0.008661 deg/s, cmd heading: 276.605231 deg, new cmd heading: 276.617600 deg. Bh79HeadingCmd: 4.827888 target range: 91.592293 and range: 92.00 m.h~@h*h"h hgfff~BdddjdZdm?ԉ~Bɢ; ) i)%Ɔii-GgW<;I~@ID)zD-?AE=! E=E=,E9"E=Y;*E=:VE=g4ZE9aE@aE@aE@aE@B->B)B-IB-}BB- =B)B)B-;B-5E@ @@/@Ա T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.^A 0; A I I O > ,eYB?A2@2L{@2掼ٱ2RD >AHRS rotation from veh to nav: [[0.114890,0.982426,0.147106],[-0.993225,0.111005,0.034377],[0.017443,-0.150059,0.988523]]2H ni?p?`?j?ڙ?ܑ?#5ÿ@?i2@I2{V^;2CYB6}ByBIbDNVDNyV%VP=ٔVYQ-V>9XYX=ZeFyZD^4;E^>`Q 5f4bR?Q 9f4bh5)bOBYdyfaQ Ij?b6CIb;ib;b4ylɮn #AnEjhDNOT Ignoring new targets: 91.59 m.Rh :9Zh :9% ProNav: ac range: 91.592293 m, nav range: 87.923927 m, bearing: 277.544032 deg, approach rate: -0.631406 m/s, LOS rate: 0.010196 deg/s, cmd heading: 276.617607 deg, new cmd heading: 276.628307 deg. Bh%9-HeadingCmd: 4.828075 target range: 91.592293 and range: 92.00 m.h-@h)*h)"h) h)g1f1f1f1d9d9d9jd9Zd=I?~Bɢ%.8)% %ľi!)- ))i-zi5A5%T<5N A- ?ԑ Ai Iy I O >5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2233925,6sB?AɰRa@R,@RːٱRy rAHRS rotation from veh to nav: [[0.115723,0.982306,0.147251],[-0.993124,0.111788,0.034750],[0.017674,-0.150260,0.988488]]RH ?@ o?` ?(?@ʡ?;? ;ÿ?iRa@IR2^;PY}By%IԙbDEVDE1yw%0=ٔQ->9Y=eFyD:E>Q 54T?Q 94T<)OBYyFQ I?XCI;iM;&4yɮ~#Ajh9EDNOT Ignoring new targets: 91.59 m.Rhei9Zhmi9u ProNav: ac range: 91.592293 m, nav range: 87.659370 m, bearing: 277.548173 deg, approach rate: -0.554865 m/s, LOS rate: 0.008711 deg/s, cmd heading: 276.628317 deg, new cmd heading: 276.640776 deg. Bh}K9}HeadingCmd: 4.828292 target range: 91.592293 and range: 92.00 m.h}_@h*h"h hgfffdddjdZd#@额~Bɢ6) Ծi)顡iD i9T<j,ݎB?AYm }BymIiMb@Mb@Mb@ 9X9v?{Gzt?~jtY?yף;DA@ )tAY Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.727438bD VD y%%-B=ٔ-Q-->91Y1=5eFy5 D5E=>9Q 5E4=]W?Q 9M4=B)=OBYM?Q EM:yMQ IM?=vCI= ;i=" ;=.4yYɮ]#AYjhDNOT Ignoring new targets: 91.59 m.RhՑ8ZhՑ8 ProNav: ac range: 91.592293 m, nav range: 87.419128 m, bearing: 277.549793 deg, approach rate: -0.589189 m/s, LOS rate: 0.003984 deg/s, cmd heading: 276.640775 deg, new cmd heading: 276.645649 deg. Bh.9HeadingCmd: 4.828377 target range: 91.592293 and range: 92.00 m.h@h*h"h hgfff~BdddjdZdX@~BɢE) D޾i)ێ顉i{i&7T<SiAy@y @y@}4@y@=@=i^A < > 4= BDAT read: Rx Time:04:11:53.1552  TRx dataTimestamp_ set to:1761538314.552988 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.981285ԙ A) I1 II OU >,B?AER& ERER'EP"ER8^;*ER:VER'4ZEPBER9Y=eFyDij:E>Q 54Y?Q 94eH)OBYysQ I?CIJO;i];44yɮ#AjhDNOT Ignoring new targets: 91.59 m.Rh8Zh8 ProNav: ac range: 91.592293 m, nav range: 87.197144 m, bearing: 277.551221 deg, approach rate: -0.547041 m/s, LOS rate: 0.003527 deg/s, cmd heading: 276.645638 deg, new cmd heading: 276.649932 deg. Bh9HeadingCmd: 4.828452 target range: 91.592293 and range: 92.00 m.h@h*h"h hgfffdddjdZd@ @E~BɢEE)a eia)m-㑼iiim iu4uX - BDAT read: Tx time:04:11:54.2310 - $Ping request sent.- i ʿ9 7A> )@ }> %:)@ q>) c9@I q Nϖ?2_}:?G7X? t ?) Y}I wּi q :publishing transmit ping time) Fpublishing direction and range infoy ^A ?(Ǚψ.?Y ) I i ) I Nϖ?2_}:?G7X? ) I i E ! E SE *E "E Y;*E N;VE (N4ZE a%@a%@a%@a%@B>BBIBQ}BBBBB;B5EA.AII O?F,.B?A6@6傚@6Vٱ6 ~AHRS rotation from veh to nav: [[0.115807,0.982287,0.147316],[-0.993081,0.111594,0.036572],[0.019485,-0.150532,0.988413]]6H?@n?9 ?Y ?=eFyD?E>Q 54R]?Q 94Q)OBY?Q E:y,Q I?CI;iW;5?4yɮ$AEi9i=B?AJi=3BRi=3Bji=@b=3_z,U@ +CG8@iR=?(Ǚψ.?Zi=wּbi=qj=ry̮&@Kl9U ӢG:@Z=.`r@?RǕXSR5?2i=ͩ:i=6A"i=W?*i= Bi= Bi9i=D_%i=Bi=VBi=@ addTargetRange:: Added new target pos. range: 90.000000 m, deltaT: 3.527467 s, deltaX: -2.000000 m, approachRate: -0.566979 m/s, rangeRepo size: 4  Added new target pos. range: 89.600883 m, bearing: 277.631881 deg, lat: 36.779397 deg, lon: -121.859552 deg, deltaT: 3.527467 s, deltaX: -1.991409 m, approachRate: -0.564544 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 89.60 m.RhZh ProNav: ac range: 89.600883 m, nav range: 86.669228 m, bearing: 277.568355 deg, approach rate: 0.000000 m/s, LOS rate: 0.003527 deg/s, cmd heading: 276.649928 deg, new cmd heading: 276.656217 deg. BhHeadingCmd: 4.828562 target range: 89.600883 and range: 90.00 m.h@h*h"h hg9fAfAfE}BdAdIdIjdMV@ZdM?颕~BɢL5) i)hih i1>W< H@>{@>̥ٱ> FAHRS rotation from veh to nav: [[0.114857,0.982391,0.147366],[-0.993176,0.110540,0.037183],[0.020238,-0.150631,0.988383]]>HCg?@o??]L? ?@??Gÿ ՠ?i>H@I>];>CYN|ByNIbDZVDZ2yb%b%=ٔbǺQ-b>9f"?Yf"?=feFyf'DjEj>lQ 5r4nP`?Q 9r4n&Y)nOBYpyrLQ Ir?nCIn:inF:nG4yzBɮzY$Ax B*** querying acoustic contact ***i ijh%DNOT Ignoring new targets: 89.60 m.Rh%u8Zh%u85 ProNav: ac range: 89.600883 m, nav range: 86.380127 m, bearing: 277.570066 deg, approach rate: -0.609251 m/s, LOS rate: 0.003619 deg/s, cmd heading: 276.656211 deg, new cmd heading: 276.661363 deg. Bh=9=HeadingCmd: 4.828652 target range: 89.600883 and range: 90.00 m.h=Q@hA*hA"hA hAgAfAfIfIdIdQdQjdQZdU߮?}~Bɢ-L) i)顁i" i'.N<;IQ@IT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Iyi@i @i@m/@iԩ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996380^A Β; E 7 E "E )E "E m;*E ;VE FA4ZE a @a @a @a @A- AAA) B5 >B1 B5 IB5 3}BB1 B1 B1 B5 ;B5 5EB(CB(CBBBCʀ4A I I O >-,U C?A2Yv@2$q@2ٱ2 :AHRS rotation from veh to nav: [[0.113651,0.982526,0.147396],[-0.993299,0.109234,0.037748],[0.020988,-0.150699,0.988357]]2H7?p?? ?S?@}?@Jÿ?i2Yv@I2B];2CYB|ByBIiMb@Mb@Mb@ 9Zd;?~jt?y&1|Y?yD<`A@  A)YG AbDVDyK=%&=ٔȺQ->9Y=eFy1D!E>Q 54c?Q 94a)OBY?Q E:y@Q I? CI:i:^P4yɮ$A jhDNOT Ignoring new targets: 89.60 m.Rh6Zh6 ProNav: ac range: 89.600883 m, nav range: 86.074974 m, bearing: 277.570227 deg, approach rate: -0.597180 m/s, LOS rate: 0.000315 deg/s, cmd heading: 276.661375 deg, new cmd heading: 276.661858 deg. Bhg]7HeadingCmd: 4.828660 target range: 89.600883 and range: 90.00 m.hc@h*h"h hgfff~BdddjdMchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.248559ZdU,?额~BɢAB) i)C흼iNi-9<;Ic@IA@ @@ 0@i^A r;ԙ  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501726AI IQ Ii Ou >mg,zq'C?A6Yk@6$f@6fSٱ6;Z VAHRS rotation from veh to nav: [[0.112315,0.982481,0.148716],[-0.993434,0.107745,0.038464],[0.021767,-0.152059,0.988132]]6H? |p? ?6@-??`I? vÿ@ƞ?i6Yk@I6Es];6CY^}BybI ddf=f=jAAhbDnVDnNyr <%vX=ٔv:Q-v>9xY|=~eFy~9DPhE> Q 5=4 @f?Q 9=4 >g) OBYAyEmQ IE? *CI #;i ; V4yIɮM#AQQjhy}DNOT Ignoring new targets: 89.60 m.Rh7Zh7 ProNav: ac range: 89.600883 m, nav range: 85.839806 m, bearing: 277.570565 deg, approach rate: -0.644581 m/s, LOS rate: 0.000930 deg/s, cmd heading: 276.661867 deg, new cmd heading: 276.662884 deg. BhQ#8HeadingCmd: 4.828678 target range: 89.600883 and range: 90.00 m.h@h*h"h hgfffdE/ E4E*E"Eaf;*E ;VE(N4ZEBEϷJ,9AC?AZ_@ZqZ@ZٱZ5 fAHRS rotation from veh to nav: [[0.110894,0.982451,0.149977],[-0.993574,0.106154,0.039272],[0.022662,-0.153368,0.987909]]ZHc?=ٔKQ->9Y=eFyBDZE>Q 541i?Q 94En)OBY ?Q E:yQ I?MCIU:i:^4yɮ#Ajh%DNOT Ignoring new targets: 89.60 m.Rh%$7Zh-$7 ProNav: ac range: 89.600883 m, nav range: 85.570297 m, bearing: 277.570955 deg, approach rate: -0.636081 m/s, LOS rate: 0.000923 deg/s, cmd heading: 276.662878 deg, new cmd heading: 276.664051 deg. Bh,"8HeadingCmd: 4.828699 target range: 89.600883 and range: 90.00 m.h@h*h"h hg!f!f!f% ~Bd)d)d)jd1Zd5@额~BɢO)  i)顡i5i,u<:;I@IDzDAAE E E+E"EV;*E:VE [4ZEa@a@a@a@B1B1B5IB5)}BB1B1B1B5;B55Ea@a @i@m4@i^A- ;] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2574259 Aa Iq I O >t,@[C?A2W@2mR@2:ٱ2E :AHRS rotation from veh to nav: [[0.109920,0.982484,0.150479],[-0.993666,0.105068,0.039850],[0.023341,-0.153906,0.987810]]2H#?@p?B?`@?2g??`/ÿ@#?i2W@I2W];2CYB#}ByBIbDJVDJy=%V=ٔQ->9Y=eFyID% (E%>)Q 554-k?Q 954-t)-OBY1y5Q I5?-kCI-p:i-:-'e4yAɮEd#AEEjhimDNOT Ignoring new targets: 89.60 m.Rhu-7Zhu-7 ProNav: ac range: 89.600883 m, nav range: 85.331490 m, bearing: 277.571459 deg, approach rate: -0.626963 m/s, LOS rate: 0.001326 deg/s, cmd heading: 276.664052 deg, new cmd heading: 276.665568 deg. Bhi8HeadingCmd: 4.828725 target range: 89.600883 and range: 90.00 m.hꄚ@h*h"h hgfffdddjdZd ^@~BɢV) ؾi)\ii+<]o;Iꄚ@I@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508407A )-C^A}r;AeAzAfAGhAE1 E%E*E"E2h;*E;VE(N4ZEBE`ԙ ] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760370,uC?A2K@2SF@2LǼٱ2 :AHRS rotation from veh to nav: [[0.108450,0.982463,0.151676],[-0.993805,0.103420,0.040691],[0.024291,-0.155149,0.987592]]2HYû?Up?`j?@y?eդ? ߘ? ÿ`[?i2K@I2];2CYB1}ByBIIF4>)Fp<bDNVDNkyR=%VP=ٔVQ-V>9XYX=ZeFyZQDbuEf>tQ 5 4vtn?Q 94v{)vOBYyQ I?vCIv i!>ԙ@ @@@BDAT read: Rx Time:04:11:56.7519 TRx dataTimestamp_ set to:1761538318.080592checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013911^A yb];D D <E ! E E E "E Y;*E :VE ZE a @a @a @a @B% >B! B% IB% G}BB% =B! B! B% ;B% 5E A! I1 IA OM >,pC?AB4@B/@B4ڼٱBյ% JAHRS rotation from veh to nav: [[0.105704,0.981855,0.157438],[-0.994041,0.100093,0.043175],[0.026633,-0.161064,0.986585]]BH@o?[k? &?.@?@?@E?Ŀ?iB4@IB];BCYRQ}ByRIi-Mb@Mb@Mb@)))) )9-rh|?Mbp?y&1?Y-?y-;-`e<)) ))-^A)Y-zAbDEVDEyU=%U2=ٔ]Q-]>9YYa=eeFye[DeŻEe>iQ 5u4m#q?Q 9u4m1)mOBY}?Q E}:y}2Q I}?mCIm:im:mt4yBɮ"AEchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.264263jhYeDNOT Ignoring new targets: 89.60 m.Rh9Zh9 ProNav: ac range: 89.600883 m, nav range: 84.807076 m, bearing: 277.575210 deg, approach rate: -0.688512 m/s, LOS rate: 0.007474 deg/s, cmd heading: 276.667877 deg, new cmd heading: 276.676832 deg. Bh&9HeadingCmd: 4.828922 target range: 89.600883 and range: 90.00 m.h@h*h"h hgfff=~BdddjdZd-,C?A21@2+@2$߼ٱ2*"& :AHRS rotation from veh to nav: [[0.105224,0.981848,0.157802],[-0.994076,0.099506,0.043732],[0.027236,-0.161469,0.986502]]2H?`Mk?2?w3y?@c??Ŀ`l?i21@I2"];2CEV EV EV+ET"EVW;*EV:VEV [4ZETBEVE9 ?Y ?=eFycD֘E>Q 54s?Q 94ƈ)OBYyAQ I?CI;i ;={4yɮ!Ajh  DNOT Ignoring new targets: 89.60 m.RhR9ZhR91 ProNav: ac range: 89.600883 m, nav range: 84.555199 m, bearing: 277.578033 deg, approach rate: -0.643145 m/s, LOS rate: 0.007230 deg/s, cmd heading: 276.676838 deg, new cmd heading: 276.685333 deg. Bhɞ9HeadingCmd: 4.829070 target range: 89.600883 and range: 90.00 m.h@h*h"h hgfffdddjdZd X @}~Bɢ} 5)y }qiy)}g顁init k<QʹI@Ia}DAT read: 04:11:56.7519 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 409,-0.38,-1.815, 2.735,-1.619,-1.918, PHS= 0.205,-1.586, 0.254, RAW= 151.4, 12.4, CAL= 151.4, 13.7, ROT= 358.6, -13.7 Ygot valid direction response: 04:11:56.7519 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 409,-0.38,-1.815, 2.735,-1.619,-1.918, PHS= 0.205,-1.586, 0.254, RAW= 151.4, 12.4, CAL= 151.4, 13.7, ROT= 358.6, -13.7 PDAT read: Bearing 90.1, -2.2 (Local) ~Local bearing/azimuth received: Bearing 90.1, -2.2 (Local) DAT read: Range 11 to 50 : 87.5 m (Round-trip 116.7 ms) speed 0.5 m/s (DAT read: user:94> BDAT read: Tx time:04:11:57.8310 $Ping request sent.i- ˿-J >-)@-k]>-)@ -Gt>)-G@I-Gt))-gb*A?E|A?'n?@ @@@ - ?)-,]I-*ȼi-Gt))%:publishing transmit ping time%Fpublishing direction and range infoy)-d0O?xyN4ӋHP?Y))))) )))I)i))))) )))I)))-gb*A?E|A?'n? )))I)i)))ԑ^A ?BɹA >A >Թ A5 ؟AIA IQ O] >,C?A2.@2(@2,ٱ2ZU& :AHRS rotation from veh to nav: [[0.104859,0.981864,0.157946],[-0.994097,0.099040,0.044296],[0.027850,-0.161659,0.986454]]2Hغ?nk?`7?Z?@??=Ŀ`?>=>=i2.@I2Z];2CYR|}ByRI TTiMb@Mb@Mb@ 9$C?Mb:v?Y?yT<A )AYG AbDVDy%E=ٔVºQ->9"?Y"?=eFykDhE>Q 54u?Q 94;)PBY)?Q E:y׼Q I?CI:i:g4yɮ!A iQiU|C?AJiU9BRiU9BjiU2@bU~lu&U@fJ?ϊbۯ4@RUd0O?xyN4ӋHP?ZiU*ȼbiUGtjU$h3$@T6LןTD 7@ZUE+X?ׇZs?2iU̦:iU!A"iUȞ?*iUS BiUӬBiUW?iUS iQiUDBiU@U addTargetRange:: Added new target pos. range: 87.500000 m, deltaT: 3.780354 s, deltaX: -2.500000 m, approachRate: -0.661314 m/s, rangeRepo size: 4 e Added new target pos. range: 87.112617 m, bearing: 276.905317 deg, lat: 36.779397 deg, lon: -121.859550 deg, deltaT: 3.780354 s, deltaX: -2.488266 m, approachRate: -0.658210 m/s, posRepo size: 4 jhimDNOT Ignoring new targets: 87.11 m.RhuZhq ProNav: ac range: 87.112617 m, nav range: 84.134247 m, bearing: 277.573679 deg, approach rate: 0.000000 m/s, LOS rate: 0.007230 deg/s, cmd heading: 276.685335 deg, new cmd heading: 276.694317 deg. BhԉHeadingCmd: 4.829227 target range: 87.112617 and range: 87.50 m.h@h*h"h hgfff~BdddjdU@Zd?U~BɢUN :)Q ]iY)]YYi]ieOe BBIBz}BBBBB;B5E@ @@0@@@@ @ ԹA I I O > ?,gC?A2.@2(@2Oٱ2r& :AHRS rotation from veh to nav: [[0.104856,0.981822,0.158209],[-0.994081,0.098931,0.044896],[0.028428,-0.161980,0.986384]]2H@׺?k?1@? S??(?`ĻĿ v?i2.@I2];2CYZ}ByZIbDbVDbNyj=%j]=ٔn̺Q-n>9pYp=reFyrsDrEr>tQ 5z4v\w?Q 9z4v)vPBY|y|Q I?v CIv;iv;vሡ4yɮb!AȣEjhaeDNOT Ignoring new targets: 87.11 m.Rhmw9Zhuw9 ProNav: ac range: 87.112617 m, nav range: 83.911613 m, bearing: 277.579262 deg, approach rate: -0.597502 m/s, LOS rate: 0.015023 deg/s, cmd heading: 276.694324 deg, new cmd heading: 276.711116 deg. Bh$:HeadingCmd: 4.829520 target range: 87.112617 and range: 87.50 m.hn@h*h"h hgfffdddjdZd j?9ɢ=b$6)9 =iA)EyAAiE iMMf I i,BC?AB1@B,@BcٱB% NAHRS rotation from veh to nav: [[0.105305,0.981966,0.157014],[-0.994016,0.099328,0.045460],[0.029044,-0.160862,0.986549]]BH??@Dl?@ ? m?F?@?Ŀ@Б?iB1@IBW];BCYV}ByVIbD^VD^k1ye'=%eB=ٔuᄎQ-u>9Y=eFy{DT:E>Q 5%4zy?Q 9-4)PBY1y]ɼQ I]?,CIq@ha*ha"ha hagafafifdddjdZd?5~Bɢ5e')9 =di9)EAAiE iuuu <}qI}>@I9@ @!@%0@!AMfAzAMaAyT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.AII O >ԩ B B )CB IB }BB B B B ;B 5EE 5 E )E *E "E k;*E 0;VE (N4ZE BE <2E <JE \<:E \<Q,D?A29@24@2ٱ2:% :AHRS rotation from veh to nav: [[0.106298,0.981913,0.156676],[-0.993904,0.100290,0.045789],[0.029248,-0.160588,0.986588]]2HX6? k? ?? q??%Ŀ@!?i29@I2];2C@Y^}BybIIf=)f9Y=eFyD;E>Q 54z?Q 94)+PBY1 ?Q E:y߾Q I?HCI.';iT&;4yɮ Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.494397jh%DNOT Ignoring new targets: 87.11 m.Rh%[9Zh-[95 ProNav: ac range: 87.112617 m, nav range: 83.430954 m, bearing: 277.593723 deg, approach rate: -0.586948 m/s, LOS rate: 0.021349 deg/s, cmd heading: 276.730797 deg, new cmd heading: 276.754630 deg. Bh=mj:=HeadingCmd: 4.830279 target range: 87.112617 and range: 87.50 m.h=@hA*hA"hA hAgAfAfIfMBdIdIdQjdQZdU^?yɢ}b{)) {i)H2顁iVie <VܹI@IIeA)Ա @  @ @ 3@A].AIiIyOZ>߭ >߭ Q? checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746744 { ,H+D?AbE (N4jE R4rE T/EF2 EDEDED"EFi;*EDVEDZEDaR@aR@aR@aR@bxC@bC>@boٱb}%p vAHRS rotation from veh to nav: [[0.107457,0.981757,0.156864],[-0.993777,0.101408,0.046094],[0.029346,-0.160841,0.986544]]bH J?j?? ?? ?`pĿđ?ibxC@Ib_^;`Y}By$IbD%VD%:2y5?=%=S=ٔ=Q-=>9E ?YE ?=EeFyEDME;EM>QQ 5U4Ub|?Q 9]4U9)U:PBYYy]Q I]?UcCIU@;iU+;UF4yiɮm@ AijhDNOT Ignoring new targets: 87.11 m.Rht9Zht9 ProNav: ac range: 87.112617 m, nav range: 83.219345 m, bearing: 277.601268 deg, approach rate: -0.548643 m/s, LOS rate: 0.019611 deg/s, cmd heading: 276.754621 deg, new cmd heading: 276.777313 deg. BhXW:HeadingCmd: 4.830676 target range: 87.112617 and range: 87.50 m.h唚@h*h"h hgfffdddjdZd?颽~Bɢ) ui)Ϸii빿K <A>e9I唚@I 9@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999021A^A9AA?i A ؟AI I O >c,$ED?A6checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2503836J@6E@6ʾٱ6 & BAHRS rotation from veh to nav: [[0.108343,0.981587,0.157319],[-0.993668,0.102194,0.046686],[0.029750,-0.161381,0.986444]]6H^?(i?#?!e)?`F?v?Ŀ`?i6J@I6os^;4Y^}Byb0IyiMb@Mb@Mb@ 9K7?{Gz~jt?Y ?yףdA  A)ZAY AbDVDy3=%@=ٔByQ->9"?Y"?=eFyD ;E>Q 54}?Q 945)KPBY ?Q E:y!Q I?CI ;i ;4y ɮ A jh1=DNOT Ignoring new targets: 87.11 m.Rh=9ZhE9M ProNav: ac range: 87.112617 m, nav range: 82.991493 m, bearing: 277.609941 deg, approach rate: -0.535631 m/s, LOS rate: 0.020444 deg/s, cmd heading: 276.777324 deg, new cmd heading: 276.803415 deg. BhU~`:]HeadingCmd: 4.831131 target range: 87.112617 and range: 87.50 m.h]@hY*hY"hY hYgYfafafe BdadidijdiZdm@额~Bɢ7) bi)C顡iJiܹ@@ <:I@IB}>E1 EFEE"E2h;*Ev;VEZEByB}3IB}}BByByByB};B}5EB9B9B9B=û =B=û =C=4)@) @)@)@1ԩchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.502811^Ae9A I I O > ٍ,%_D?Aɰ;B`Y@B+T@BٱB$ RAHRS rotation from veh to nav: [[0.110110,0.981600,0.156004],[-0.993450,0.103873,0.047608],[0.030528,-0.160224,0.986608]]BH+0?@Di? ?X@k?#`?B?<ĿK?iB`Y@IB^;BCY~By9I !!bDEVDEky]=%]S=ٔe}Q-e>9aYi=meFymDmd;Em>qQ 5}4uD?Q 94u)uZPBYy龿Q I?uCIuL;iu7;uz4yBɮAңEjhDNOT Ignoring new targets: 87.11 m.Rh9Zh9 ProNav: ac range: 87.112617 m, nav range: 82.783279 m, bearing: 277.617658 deg, approach rate: -0.534940 m/s, LOS rate: 0.019876 deg/s, cmd heading: 276.803416 deg, new cmd heading: 276.826625 deg. BhAZ:HeadingCmd: 4.831536 target range: 87.112617 and range: 87.50 m.h@h*h"h hgfffdddjdZd@-~Bɢ-^)) -Ti1)5$99i=Ii=ϹE iU%>@ @ @ @  E* E#E)E"Ea;*E;VEFA4ZEBEȸ,yD?A2e@2M`@2~ٱ2]" :AHRS rotation from veh to nav: [[0.111579,0.981742,0.154056],[-0.993266,0.105311,0.048288],[0.031183,-0.158406,0.986881]]2H`p?mj??@?`D?p?FĿ?i2e@I2^;0YB~ByB>IbDV VDV2yf<%fT=ٔf#ߺQ-f>9hYh=jeFyjDj|;En>pQ 5v4r?Q 9v4r)riPBYtyvQ Iv?rCIr:ir|:r54yxɮ~A|jh)9eDNOT Ignoring new targets: 87.11 m.Rh9Zh9 ProNav: ac range: 87.112617 m, nav range: 82.576561 m, bearing: 277.625156 deg, approach rate: -0.495567 m/s, LOS rate: 0.018021 deg/s, cmd heading: 276.826638 deg, new cmd heading: 276.849190 deg. Bh%E:%HeadingCmd: 4.831930 target range: 87.112617 and range: 87.50 m.h%+@h)*h)"h) h)gQfQfYfYdadadjdZd o @~BɢB)! %Mi!)MIIiMiU¹U& B B RIB 1~BB B B B ;B 5E^AE ] ;AA zAE eAԹ A I I O >$,>D?A2o@2j@2=ٱ2" :AHRS rotation from veh to nav: [[0.112826,0.981625,0.153893],[-0.993116,0.106503,0.048756],[0.031470,-0.158334,0.986884]]2H(?`xi?²?C??@?@MDĿ?i2o@I2L^;0YB"~ByBJIi Mb@Mb@Mb@     9 S㥛?Mb~jtx?Y $?y  ; QA @  A) ^A Y AbD%VD%1y-(=%=>=ٔE<.Q-E>9AYI=MeFyMDM>;DAT read: 04:12:00.3493 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 413, 0.22,-2.877, 1.672,-2.702,-3.015, PHS= 0.239,-1.551, 0.269, RAW= 150.8, 11.5, CAL= 150.7, 12.7, ROT= 359.3, -12.7 Ygot valid direction response: 04:12:00.3493 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 413, 0.22,-2.877, 1.672,-2.702,-3.015, PHS= 0.239,-1.551, 0.269, RAW= 150.8, 11.5, CAL= 150.7, 12.7, ROT= 359.3, -12.7 PDAT read: Bearing 89.4, -1.0 (Local) ~Local bearing/azimuth received: Bearing 89.4, -1.0 (Local) DAT read: Range 11 to 50 : 85.5 m (Round-trip 114.1 ms) speed 0.4 m/s (DAT read: user:95> BDAT read: Tx time:04:12:01.4310 $Ping request sent.iu+ƿu^>uq(@uM>uaU(@ ub>)uū@Iubqquc0u?kB᰿?1rF? uѹ ?)uVNIuD+Hiubqq:publishing transmit ping timeFpublishing direction and range infoyqu̓6?0UhF#?Yqqqqq q)qIqiqqqqq q)qIqqquc0u?kB᰿?1rF? q)qIqiqqq1Em>qQ 5}4ul?Q 9}4u)uuPBY}7?Q E}:y}6Q I}?uCIu:iu:ud4yɮDAiqiuBD?AJiu>BRiu>Bjiu-@buȁ$T@ cc;뛧һ2@Ru̓6?0UhF#?ZiuD+Hbiubju:E 9&@MXjT 6=5@Zuڡ?#vN-?2iuP:iu 4A"iu8h6?*iuXU"BiuBiqiqiuӬBiuBiuK@ addTargetRange:: Added new target pos. range: 85.500000 m, deltaT: 3.527711 s, deltaX: -2.000000 m, approachRate: -0.566940 m/s, rangeRepo size: 4  Added new target pos. range: 85.122253 m, bearing: 277.845931 deg, lat: 36.779397 deg, lon: -121.859550 deg, deltaT: 3.527711 s, deltaX: -1.990364 m, approachRate: -0.564208 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 85.12 m.RhZhM ProNav: ac range: 85.122253 m, nav range: 82.331619 m, bearing: 277.633397 deg, approach rate: 0.000000 m/s, LOS rate: 0.018021 deg/s, cmd heading: 276.849178 deg, new cmd heading: 276.874212 deg. BhIUHeadingCmd: 4.832366 target range: 85.122253 and range: 85.50 m.hU@hQ*hQ"hY hYgYfff-Bdddjd`U@Zd(?~Bɢ\) B=i)wi=i o k <HM;I@IY@ @@/@ԁ- G9 ^A] ;a ʯ9 Y ۟AԱ E] & E] )EY EY "E] 8^;*E] 0;VEY ZEY BE] z+,-D?A2ky@26t@2ٱ2 " :AHRS rotation from veh to nav: [[0.113990,0.981622,0.153047],[-0.992970,0.107626,0.049273],[0.031896,-0.157588,0.986990]]2H`u.?si? ?hY?`J:?T?+Ŀk?i2ky@I2 _;2CYB~ByB?IIF=)F<bDNVDNyR%V<=ٔV퀺Q-V>9Z ?YZ ?=^eFy^DbG1;Eb>`Q 5f4b탛?Q 9j4b)bPBYhyjQ Ij?bCIb&;ibD;bW¡4ypɮrAp~B*** querying acoustic contact ***i| i|jh  DNOT Ignoring new targets: 85.12 m.Rh9Zh9- ProNav: ac range: 85.122253 m, nav range: 82.123619 m, bearing: 277.640265 deg, approach rate: -0.562894 m/s, LOS rate: 0.018633 deg/s, cmd heading: 276.874204 deg, new cmd heading: 276.894859 deg. Bh-L:5HeadingCmd: 4.832727 target range: 85.122253 and range: 85.50 m.h5@h1*h1"h1 h1g9f9f9f9dAdAdAjdAZdE\?~Bɢ) Ni)iʥi%%Rs <%v;I%@I!QiIT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.9@ @@0@Aԁ^AEyb];Aq I I ԙ O > checking for new query: numPingsReceived=0, elapsed TxPingTime=0.744418a2,bD?A2@2q|@2.'ٱ2ۊ! :AHRS rotation from veh to nav: [[0.114986,0.981608,0.152394],[-0.992843,0.108583,0.049720],[0.032258,-0.157021,0.987068]]2H`o?Ui?`? _̻?t?)?@CĿ@?i2@I2K_;2CYB~ByBDIBE>BABEkIBEY~BBABABABE&;BE5EimMb@Mb@Mb@iiii i9mp= ף?y&1|Mb`?Ym?ym`廙m;mAm@y m A)mtAiYm AbDVDDzDE E!E*E"E*E:VE(N4ZEBE2EJEU<:EU9Y=eFyD ;E>Q 54⅛?Q 94)PBY"?Q E:yQ I? CI ;i ;ɡ4yɮkAjh DNOT Ignoring new targets: 85.12 m.Rh/M9Zh/M9% ProNav: ac range: 85.122253 m, nav range: 81.897186 m, bearing: 277.645135 deg, approach rate: -0.519818 m/s, LOS rate: 0.011212 deg/s, cmd heading: 276.894858 deg, new cmd heading: 276.909509 deg. Bh%99-HeadingCmd: 4.832983 target range: 85.122253 and range: 85.50 m.h-˧@h)*h1"h1 h1g1f1f9f=VBd9d9dAjdAZdE4?m~BɢmhM)q u$Jiq)u}yyi}U"i}A|N <&;I˧@I@ @@4@Ա%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996242^Amr;Au>Au>A ؟AI I O > 8,D?A2r@2=@2ٱ2/X :AHRS rotation from veh to nav: [[0.116416,0.981626,0.151188],[-0.992680,0.110073,0.049700],[0.032145,-0.155867,0.987255]]2Hwͽ?zi?Z?@ -?6r?Du?pÿ?i2r@I2D_;2CYV ~ByV:IbDbVDb1yj%jX=ٔj9Q-n>9n"?Yn"?=neFynDry{;Er>tQ 5z4v?Q 9z4v)vPBYxyzQ I~?v&CIv :iv{!;vС4yɮ A jh)5DNOT Ignoring new targets: 85.12 m.Rh52D9Zh=2D9M ProNav: ac range: 85.122253 m, nav range: 81.702240 m, bearing: 277.649154 deg, approach rate: -0.518821 m/s, LOS rate: 0.010721 deg/s, cmd heading: 276.909502 deg, new cmd heading: 276.921587 deg. BhMp9UHeadingCmd: 4.833193 target range: 85.122253 and range: 85.50 m.hU@hQ*hQ"hQ hQgQfYfYfYdadadajdaZde ?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248434额~Bɢ) Zi)R顡itiX4 <I;I@IU9@Q @Q@U}1@QE" E E(E"EZ;*E:VEc44ZEa@a@a@a@^Au;15 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500521A I I O >Y >,D?A @ @ /ٱ J1 EAHRS rotation from veh to nav: [[0.117326,0.981825,0.149178],[-0.992574,0.111078,0.049579],[0.032108,-0.153887,0.987567]] H ?k?A? +o?pb?lp? ÿ`%?i @I o_; CYM~Byu9I yyiMb@Mb@Mb@ 9|?5^?Mbp?I +Y ?y;94A@ ( A)AYA@A@AbDVDk2ys%"=ٔ%8Q->9Y=eFyD:E>Q 54q?Q 94K)PBY ?Q E:yzQ I?ICI:i:N١4y Bɮ A ۣEjh15DNOT Ignoring new targets: 85.12 m.Rh={8Zh={8checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752200 ProNav: ac range: 85.122253 m, nav range: 81.423492 m, bearing: 277.651460 deg, approach rate: -0.554374 m/s, LOS rate: 0.004603 deg/s, cmd heading: 276.921578 deg, new cmd heading: 276.928521 deg. Bh.J9HeadingCmd: 4.833314 target range: 85.122253 and range: 85.50 m.h@h*h"h hgfffBdd d jd Zd ~?aU~BɢeY)a mR`ii)m6üiiimiu_u B9B=rIB=d~BB= =B9B9B9B9E( E$EE"E`;*E;VEZEBES[F,^fE?A2H@2@2Xٱ2 >AHRS rotation from veh to nav: [[0.118336,0.981757,0.148827],[-0.992452,0.112080,0.049766],[0.032177,-0.153593,0.987610]]2H`Թ cL,U05E?AYr ~Byv=IbD~VD~1y%l%-C=ٔ-Q-->91Y1=5eFy5D5E5>AQ 5E4Eώ?Q 9M4EW)EPBYIyIQ IM?ECIE:iE[:E4yQɮUAYuB*** querying acoustic contact ***iq iqjhDNOT Ignoring new targets: 85.12 m.Rho8Zho8checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508455ԡ ProNav: ac range: 85.122253 m, nav range: 81.000336 m, bearing: 277.654686 deg, approach rate: -0.575588 m/s, LOS rate: 0.004411 deg/s, cmd heading: 276.932889 deg, new cmd heading: 276.938225 deg. BhA9HeadingCmd: 4.833484 target range: 85.122253 and range: 85.50 m.h櫚@h*h"h hgfffdddjdZd4@~Bɢ!) e^i)żi1Riяd <  ;I 櫚@I 9@ @@@^AU checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760396A I I O > B >B (CB kIB Y~BB =B B B ;B 5ES, OE?AE- E EE"Ed;*E:VEZEBE>9Y=eFyD ;E> Q 54 ‘?Q 94 ) PBY?Q E:y۶Q I? CI  ;i  ; *4y%Bɮ%A%ܣEjhIMDNOT Ignoring new targets: 85.12 m.RhUZh]e ProNav: ac range: 85.122253 m, nav range: 80.753380 m, bearing: 277.653175 deg, approach rate: -0.574607 m/s, LOS rate: -0.003526 deg/s, cmd heading: 276.938216 deg, new cmd heading: 276.933669 deg. BhmmHeadingCmd: 4.833405 target range: 85.122253 and range: 85.50 m.hm@@hq*hq"hq hqgqfqfyf}~BdyddjdZd&@颵~BɢF_$) ni)pǼ项i:ril/ <o;I@@IUx>iU>BDAT read: Rx Time:04:12:03.9469 TRx dataTimestamp_ set to:1761538325.389112checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0143979@ @@/@@=@=!a^A5 jZ;A} .Aԁ I I O >] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264256Y,g*iE?AF@F@FSٱF NAHRS rotation from veh to nav: [[0.119627,0.981740,0.147903],[-0.992291,0.113372,0.050050],[0.032368,-0.152750,0.987735]]FH`ٟ?jj?@z?`?'?? Oÿ?iF@IFu];FCYV}ByV.IbDb VDb:2yj[ϼ%jZ=ٔjӸQ-j>9n ?Yn ?=neFynDr:Er>tQ 5z4vO?Q 9z4vR)vPBYxyz϶Q Iz?vCIvp:iv ;v4yɮAjh)-DNOT Ignoring new targets: 85.12 m.Rh5{Zh5{E ProNav: ac range: 85.122253 m, nav range: 80.540253 m, bearing: 277.651805 deg, approach rate: -0.574454 m/s, LOS rate: -0.003701 deg/s, cmd heading: 276.933681 deg, new cmd heading: 276.929561 deg. BhE"MHeadingCmd: 4.833333 target range: 85.122253 and range: 85.50 m.hM@hI*hI"hQ hQgQfQfYfYdYdadajdaZdmd @1M~BɢM)+)q uziy)}Aɼyyi}xiǔ <y;I@IbE·G4jE#E4rE x/E. EE*E"Eye;*E:VE(N4ZEa5@a5@a5@a5@59@9 @9@E0@AaiߑIߑDAT read: 04:12:03.9469 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 421, 0.28,-2.048, 2.524,-1.858,-2.170, PHS= 0.224,-1.545, 0.268, RAW= 151.2, 11.7, CAL= 151.1, 13.0, ROT= 358.9, -13.0 Ygot valid direction response: 04:12:03.9469 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 421, 0.28,-2.048, 2.524,-1.858,-2.170, PHS= 0.224,-1.545, 0.268, RAW= 151.2, 11.7, CAL= 151.1, 13.0, ROT= 358.9, -13.0 PDAT read: Bearing 89.5, -1.1 (Local) ~Local bearing/azimuth received: Bearing 89.5, -1.1 (Local) DAT read: Range 11 to 50 : 83.8 m (Round-trip 111.8 ms) speed 0.5 m/s (DAT read: user:96> BDAT read: Tx time:04:12:05.0310 $Ping request sent.iſL7>[(@Q>(@ Vh>)r@IVhn1?<)(=?A˘k ? | ?)sQIFiVhU:publishing transmit ping timeUFpublishing direction and range infoyO0,?@4n':/2?Y )Ii )In1?<)(=?A˘k ? )Iiԑ^AP;I I O% > `,E?AuY@u$@u26ٱu7 AHRS rotation from veh to nav: [[0.119189,0.981817,0.147744],[-0.992331,0.112888,0.050355],[0.032761,-0.152613,0.987743]]uH(? k?`G?,5?ȩ?Ơ?Јÿ?iuY@Iun-];uCY}By1IԁiMb@Mb@Mb@ 9Q?Mb?{GzY(?y<#A@  A)^AYbDVDy <% +=ٔVQ->9Y=eFyDpE>!Q 5-4%җ?Q 954%)%PBY5<?Q E5:y5öQ I5?%CI%:i%<:%4yeBɮeAeEiiMyE?AJiۦBRiۦBji%@b6ǵQT@+= *~ {2@RO0,?@4n':/2?ZiFbiVhjʕF%@?SnSݲ3p5@Z?O"ޣm]r?2iğ:i.A"iiP0?*i;*BiݩBiā6?iiiBi@ addTargetRange:: Added new target pos. range: 83.800003 m, deltaT: 3.528157 s, deltaX: -1.699997 m, approachRate: -0.481837 m/s, rangeRepo size: 4  Added new target pos. range: 83.429276 m, bearing: 277.789470 deg, lat: 36.779397 deg, lon: -121.859550 deg, deltaT: 3.528157 s, deltaX: -1.692978 m, approachRate: -0.479848 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 83.43 m.RhZh!- ProNav: ac range: 83.429276 m, nav range: 80.253120 m, bearing: 277.676973 deg, approach rate: 0.000000 m/s, LOS rate: -0.003701 deg/s, cmd heading: 276.929555 deg, new cmd heading: 276.924074 deg. Bh15HeadingCmd: 4.833237 target range: 83.429276 and range: 83.80 m.h5ਗ਼@hY*hY"hY hYgYfYfafe~Bdadadijdm@3T@ZdmN?~Bɢ$) vxi)ʼiiꗹ <D4;Iਗ਼@IB]<A]4=B]>BYB]eIB]O~BB] =BYBYBYB]5EB)CBBBBCŖD5ԹE! E%E%+E!"E!*E%:VE% [4ZE!BE%$g,E?A4<ɰY}By*IbDEVDEy)%\=ٔQ->9Y=eFyDE>Q 54?Q 94)PBYyQ I?CI;iBh;4yɮAjh)-DNOT Ignoring new targets: 83.43 m.Rh5Zh5E ProNav: ac range: 83.429276 m, nav range: 80.024551 m, bearing: 277.675505 deg, approach rate: -0.628082 m/s, LOS rate: -0.004045 deg/s, cmd heading: 276.924064 deg, new cmd heading: 276.919648 deg. BhE1MHeadingCmd: 4.833159 target range: 83.429276 and range: 83.80 m.hM>@hI*hI"hQ hQgQfQfQfYdYdYdYjdYZde?i颕~BɢEO4) Gi)g̼顙igiu <;I>@Ie9@a @a@e 3@aԙ^AE E*E(E"E*E;VEc44ZEa@a@a@a@IIO > Jm,E?A6:@6@6c ٱ6  BAHRS rotation from veh to nav: [[0.117231,0.981894,0.148798],[-0.992520,0.110699,0.051476],[0.034072,-0.153720,0.987527]]6H?@k? ?`V?@[?q?ÿ ҙ?i6:@I6,];6CYJ~ByJ:IbDVVDVyZ'=%Z[=ٔ^|fQ-^>9`Y`=beFybDbEf>dQ 5j4f>?Q 9j4f)fPBYlyrQ Ir?fCIfK;ifL;f 4ytɮzAx B*** querying acoustic contact ***i  i jhDNOT Ignoring new targets: 83.43 m.Rh%bZh%b5 ProNav: ac range: 83.429276 m, nav range: 79.798256 m, bearing: 277.674367 deg, approach rate: -0.614469 m/s, LOS rate: -0.003099 deg/s, cmd heading: 276.919638 deg, new cmd heading: 276.916214 deg. Bh5"=HeadingCmd: 4.833100 target range: 83.429276 and range: 83.80 m.h=@h9*hA"hA hAgAfAfIfIdIdIdIjdQZdUZ?}~Bɢ}!,) li)ͼ顁iih <ƺ;I@IQ@Y @Y@e4@a^AII O>T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.) B >B B _IB E~BB =B B B /;B 6EE / E .E +E "E af;*E ;VE [4ZE BE Ϸ9Y=eFyDE>Q 54 ?Q 94)PBY&?Q E:yQ I?>CI? ;i ;4yɮAjh DNOT Ignoring new targets: 83.43 m.Rh cZh c% ProNav: ac range: 83.429276 m, nav range: 79.515533 m, bearing: 277.668983 deg, approach rate: -0.650487 m/s, LOS rate: -0.012432 deg/s, cmd heading: 276.916223 deg, new cmd heading: 276.900013 deg. Bh%%HeadingCmd: 4.832817 target range: 83.429276 and range: 83.80 m.h-p@h)*h)"h) h)g)f1f1f5~Bd1d9d9jd9Zd=O?~Bɢj+)) iI)MϼIIiM9iUUv <];I]p@IYchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.496907!@! @!@%4@!Y^AE ;ԁ I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748718 C{\z,OuE?A@0^(~@bgG^x@^pٱ^=99Y=A MAHRS rotation from veh to nav: [[0.114549,0.982083,0.149639],[-0.992772,0.107741,0.052868],[0.035799,-0.154614,0.987326]]^HS?8m?a'?`䔻??1T?bÿ-?i^(~@I^^];\Ye~Bye?IbDVDy5|=%I=ٔ_ Q->9Y=eFyD"E>Q 54?Q 94)PBYyQ I?`CI:i:4yɮ]Ajh!%DNOT Ignoring new targets: 83.43 m.Rh-UZh-U= ProNav: ac range: 83.429276 m, nav range: 79.251587 m, bearing: 277.664243 deg, approach rate: -0.648382 m/s, LOS rate: -0.011682 deg/s, cmd heading: 276.900022 deg, new cmd heading: 276.885755 deg. Bh=GEHeadingCmd: 4.832568 target range: 83.429276 and range: 83.80 m.hEf@hA*hA"hA hAgIfIfIfIdQdQdQjdYZd]@?E}< E}4E}(Ey"E},r;*E} ;VE}c44ZEya@a@a@a@额~Bɢ)) fi)Ѽ顡i Uiҭ <?P;If@IԉM9@I @I@M/@I@Q@U=Թchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.000591^A;A>AIqIO> H,cF?AFs@Fn@FٱF RAHRS rotation from veh to nav: [[0.113313,0.982092,0.150519],[-0.992884,0.106342,0.053604],[0.036637,-0.155521,0.987153]]FH ?Lm? 1D??9?q?¢?ÿ?iFs@IF6`];DYV$~ByZJIXiEMb@Mb@Mb@AAAA A9E?~jt?MbP?YEf&?yED9qYq=ueFyu!D}8OE}>Q 54e?Q 94)PBYm&?Q E:y&Q I?CI ;ie ;4yBɮAEjhDNOT Ignoring new targets: 83.43 m.Rhb7Zhb7M\?M4=Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.252798} ProNav: ac range: 83.429276 m, nav range: 78.996384 m, bearing: 277.664546 deg, approach rate: -0.649779 m/s, LOS rate: 0.000775 deg/s, cmd heading: 276.885760 deg, new cmd heading: 276.886673 deg. Bh}8HeadingCmd: 4.832584 target range: 83.429276 and range: 83.80 m.h@h*h"h hgfff~BdddjdZdI?@~Bɢ%X#)! E"UiA)MҼIIiMfiUMUU t, EF?A>i@>d@>s{ٱ>V RAHRS rotation from veh to nav: [[0.112085,0.982146,0.151083],[-0.992992,0.104971,0.054291],[0.037462,-0.156109,0.987029]]>H ?m?`V?`ߺ? ̫? H.?@eÿ?i>i@I>A];>CY^'~By^MIbDnVDn:2y~<%Q=ٔ 8 Q- >9Y=eFy)DME%>)Q 5=4-5?Q 9E4-K)-PBYAyEOQ IE?-CI-f;Qi-dI;-&4yaɮeAajh DNOT Ignoring new targets: 83.43 m.Rh 7Zh7 ProNav: ac range: 83.429276 m, nav range: 78.740685 m, bearing: 277.665082 deg, approach rate: -0.643829 m/s, LOS rate: 0.001352 deg/s, cmd heading: 276.886662 deg, new cmd heading: 276.888273 deg. Bh%m8%HeadingCmd: 4.832612 target range: 83.429276 and range: 83.80 m.h%¤@hi*hi"hi higififqfqdqdqdyjdyZd} l@%~Bɢ%$)) -uRi))-6Ӽ))i5i5d= <=9;I=¤@I9y@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760412ԩE1 E6E+E"E2h;*E ;VE [4ZEa@a@a@a@^A2; I I O >,B9F?A;ɰ2\`@2([@2~lٱ2= :AHRS rotation from veh to nav: [[0.110928,0.982225,0.151423],[-0.993095,0.103699,0.054858],[0.038180,-0.156463,0.986946]]2He? cn?`a?n?K?@X?Ŀ?i2\`@I2];2CbBDAT read: Rx Time:04:12:07.5438 fTRx dataTimestamp_ set to:1761538328.916243fchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.009823Y]5~By]UIbDmVDmk1y=%C=ٔQ->9Y=eFy1Dx6E>Q 54)?Q 94[#)PBYyuQ I?CI:i:-4yBɮAԹB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 83.43 m.Rh 8Zh 8 ProNav: ac range: 83.429276 m, nav range: 78.469971 m, bearing: 277.665882 deg, approach rate: -0.653627 m/s, LOS rate: 0.001939 deg/s, cmd heading: 276.888274 deg, new cmd heading: 276.890683 deg. BhO8HeadingCmd: 4.832654 target range: 83.429276 and range: 83.80 m.h@h*h "h  h g f ffdddjdZdC@颁ɢ") Di)ռ顉iii <ʼn:I@I@ @@%0@!@EfA@EhA^Am] ;}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261340II O >B >B B kIB Y~BB =B B B B 6E9 D zD ?AE + E 5E *E "E b;*E ;VE (N4ZE BE 9Y=eFy9D|GE>Q 54կ?Q 94X*)PBYg%?Q E:yܹQ I?CI=i< 54yQɮ]2AYjhDAT read: 04:12:07.5438 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 405, 0.47,-1.311,-2.998,-1.130,-1.400, PHS= 0.191,-1.553, 0.227, RAW= 151.0, 12.8, CAL= 151.0, 14.2, ROT= 359.0, -14.2  Ygot valid direction response: 04:12:07.5438 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 405, 0.47,-1.311,-2.998,-1.130,-1.400, PHS= 0.191,-1.553, 0.227, RAW= 151.0, 12.8, CAL= 151.0, 14.2, ROT= 359.0, -14.2 PDAT read: Bearing 90.4, -1.0 (Local) ~Local bearing/azimuth received: Bearing 90.4, -1.0 (Local) DAT read: Range 11 to 50 : 81.4 m (Round-trip 108.6 ms) speed 0.5 m/s %(DAT read: user:97> -BDAT read: Tx time:04:12:08.6310 -$Ping request sent.-iƿrh>+(@d>+(@ }>)@I}5C?wFJ??rHk?  ?)_CeIi}u:publishing transmit ping time)uFpublishing direction and range infoy|?XoNS/;f?Y )IiDNOT Ignoring new targets: 83.43 m.RhO8ZhO8 ProNav: ac range: 83.429276 m, nav range: 78.202423 m, bearing: 277.668827 deg, approach rate: -0.574538 m/s, LOS rate: 0.006347 deg/s, cmd heading: 276.890678 deg, new cmd heading: 276.899545 deg. Bhc9HeadingCmd: 4.832809 target range: 83.429276 and range: 83.80 m.h_@ )I5C?wFJ??rHk? )Iih*h"h hgfff BdddjdYT@Zd s?Im~Bɢm)i m(ii)uglּqqiui}}ԏ <}.I}_@I@ @@%/@!i^AE q:} =} <I I O > F,lF?AF!M@FG@F ٱF) VAHRS rotation from veh to nav: [[0.108592,0.982678,0.150174],[-0.993313,0.101304,0.055382],[0.039209,-0.155183,0.987107]]FH ̻?r? 8?7?[?`D? ÿ b?iF!M@IFNa];FCY~]~By~nIbD%VD%ܲyt<%K=ٔNƺQ->9Y=eFyAD4E>Q 54_?Q 94 1)PBYyQ I?CI:i=:;4yBɮAEiiZF?AJiBRiBji@bݮO+CS@DA$!cě%3@R|?XoNS/;f?Zibi}jȭV$@)`DSx6@Zml?R|s"n~?2i :i"A"i5 ?*iBiBiW?iiiBi@E], E]%E])EY"E]c;*E];VE]FA4ZEYae@ae@ae@ae@ addTargetRange:: Added new target pos. range: 81.400002 m, deltaT: 3.527847 s, deltaX: -2.400002 m, approachRate: -0.680302 m/s, rangeRepo size: 4 ԑ Added new target pos. range: 81.039062 m, bearing: 277.516378 deg, lat: 36.779397 deg, lon: -121.859550 deg, deltaT: 3.527847 s, deltaX: -2.390213 m, approachRate: -0.677527 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 81.04 m.RhZh ProNav: ac range: 81.039062 m, nav range: 77.940651 m, bearing: 277.643944 deg, approach rate: 0.000000 m/s, LOS rate: 0.006347 deg/s, cmd heading: 276.899557 deg, new cmd heading: 276.906451 deg. BhHeadingCmd: 4.832929 target range: 81.039062 and range: 81.40 m.h[@hI*hI"hI hIgQfQfQfQdYdYdYjdYZd]@4?~Bɢ*) 7i)R׼ilifJ <PqI[@I9@9 @9@=L1@9^A qI I O > ,ˢF?AY}c~By}qIi Mb@Mb@Mb@     9 jt?~jt?Y  ?y  D< A  tA) GA Y  A 4<bD%VD%0y=F<%=?=ٔEQ-E>9AYA=EeFyEJDMEM>QQ 5]4Uߴ?Q 9]4U7)UPBYe ?Q Ee:yeQ Ie?U)CIUz:iU:UgC4yiɮmAqjhDNOT Ignoring new targets: 81.04 m.Rh>9Zh>9 ProNav: ac range: 81.039062 m, nav range: 77.674988 m, bearing: 277.648166 deg, approach rate: -0.651475 m/s, LOS rate: 0.010388 deg/s, cmd heading: 276.906442 deg, new cmd heading: 276.919150 deg. Bh"9HeadingCmd: 4.833151 target range: 81.039062 and range: 81.40 m.h,@h*h"h hgfff~BdddjdZd`?ɢxt) i)}Dؼi i<돘I,@IB5>B1B5IB5~BB5 =B1B1B5;B55E%9@! @!@%4@!D]=D]%=Ee. Ee"Ee+Ea"Eeye;*Ee;VEe [4ZEaBEe,sF?A@VB@V<@VH#ٱVH; fAHRS rotation from veh to nav: [[0.107242,0.982890,0.149753],[-0.993434,0.099896,0.055767],[0.039854,-0.154751,0.987149]]VH=t?s?+?5ʒ?? g?`ÿ`?iVB@IVR6];VCYj~~BynIbDvVDvy~x=%~b=ٔQ->9Y=eFyQD =uE >Q 54?Q 94=)QBY!y%뺿Q I%?FCI;i/;I4y)ɮ-fA)jhQUDNOT Ignoring new targets: 81.04 m.RhC9ZhC9 ProNav: ac range: 81.039062 m, nav range: 77.447968 m, bearing: 277.652026 deg, approach rate: -0.627344 m/s, LOS rate: 0.010698 deg/s, cmd heading: 276.919146 deg, new cmd heading: 276.930760 deg. Bh9HeadingCmd: 4.833354 target range: 81.039062 and range: 81.40 m.hժ@h*h"h hgfffdddjd Zd @v?u~Bɢuk)y }iy)}x ټyyi}4i^<+Iժ@IY9@ @@/@ԁbEǙT4jEI4rEǮ10E4 E&E%E"Ej;*E;VE 4ZEa@a@a@a@^A NJκ AE ؟AII Ia Om >,OF?A2/A@2;@2W#ٱ2 :AHRS rotation from veh to nav: [[0.107141,0.982848,0.150100],[-0.993444,0.099774,0.055801],[0.039868,-0.155094,0.987095]]2Hm?@~s?`x6?`K@̊??@i?"ÿH?i2/A@I2)];2CPYf~ByfIbDn VDn2yvI=%vK=ٔv;Q-z>9z"?Yz"?=zeFyzYD~+E~>Q 5 4R?Q 9 4D)QBY y Q I?gCId:i:P4yɮAjhAEDNOT Ignoring new targets: 81.04 m.RhME9ZhME9] ProNav: ac range: 81.039062 m, nav range: 77.195961 m, bearing: 277.656355 deg, approach rate: -0.626860 m/s, LOS rate: 0.010803 deg/s, cmd heading: 276.930758 deg, new cmd heading: 276.943787 deg. Bh]B9eHeadingCmd: 4.833581 target range: 81.039062 and range: 81.40 m.he@ha*ha"ha higifififidqdqdqjdqZd}?颥~Bɢ%, ) ƽi)oټ顩i3iPR<2I@I9@9 @9@9@9ԩ^A5"5A I I O > B- >B) B- IB- ~BB- =B) B) B- ;B- 5EB(CBBBɽ =Bɽ =Cɔ5E : E E +E "E \p;*E VE [4ZE BE m"=@>7@>3J$ٱ> FAHRS rotation from veh to nav: [[0.106649,0.983021,0.149317],[-0.993488,0.099297,0.055875],[0.040099,-0.154304,0.987209]]>H`UM?t? ?`k?@?݇?9ÿ 8?i>"=@I>.];>CYN~ByNI PP`i-Mb@Mb@Mb@)))) )9-ʡE?/$Mb?Y-?y--<-A) -A)))Y-AbDEVDEfyM<%UB=ٔUQ-U>9YYY=]eFy]bDeۙEe>iQ 5u4m?Q 9u4mPK)m(QBYu?Q Eu:yu-Q Iu?mCImWgg,}F?A::@:5@:$ٱ:y ^AHRS rotation from veh to nav: [[0.106374,0.983032,0.149439],[-0.993511,0.098997,0.055987],[0.040243,-0.154425,0.987185]]:H Y;? u? ?W?F?`?`3ÿ?i::@I:S];:CYf~ByfIbDnVDnkyv=%vS=ٔz,¹Q-z>9xYx=~eFy~jD~`:E>Q 5 4?Q 9 4Q):QBYy6Q I?CI :i9:^4yBɮ%kA%E9jhIMDNOT Ignoring new targets: 81.04 m.RhU9ZhU9e ProNav: ac range: 81.039062 m, nav range: 76.699440 m, bearing: 277.677347 deg, approach rate: -0.640393 m/s, LOS rate: 0.027318 deg/s, cmd heading: 276.976520 deg, new cmd heading: 277.006979 deg. Bhe:mHeadingCmd: 4.834684 target range: 81.039062 and range: 81.40 m.hm@hi*hi"hi hqgqfqfyfydydydyjdZdQ@颩ɢ8#) i)gڼ顱iihA<kI@IE=4 E9E=.E9"E=j;*E9VE=ـ4ZE9aM@aM@aM@aM@Q@Q @Q@U0@Qai߹I߹checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508640ԑ^ArA I I O- > ,G?Av;@v5@v#%ٱvs ~AHRS rotation from veh to nav: [[0.106399,0.982950,0.149965],[-0.993506,0.098982,0.056106],[0.040306,-0.154961,0.987098]]vH9Y=eFy sD l8E >checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760480!Q 5-4%?Q 9-4%/X)%MQBY5?Q E5:y5Q I5?%CI%;i%$;%f4y9ɮ=AAjhamDNOT Ignoring new targets: 81.04 m.Rhuk:Zhuk:} ProNav: ac range: 81.039062 m, nav range: 76.448120 m, bearing: 277.692176 deg, approach rate: -0.570120 m/s, LOS rate: 0.033751 deg/s, cmd heading: 277.006982 deg, new cmd heading: 277.051617 deg. BhM:HeadingCmd: 4.835463 target range: 81.039062 and range: 81.40 m.h@h*h"h hgfffBdddjdZd`Q@Bɢe)i m|?ii)mۼiiiuiuN}<}<1I}@IyBBBIB~BB =BBBBEM5 EM1EM*EI"EMk;*EMf;VEM(N4ZEIBEM,)!G?A@Y~ByIbD%VD%k1y5#=%5X=ٔ=Q-=>99Y9=EeFyE{DEEE>IQ 5U4M?Q 9U4M])M^QBYYyYQ I]?MCIM;iM;M-m4yaɮeuAajhDNOT Ignoring new targets: 81.04 m.RhW:ZhW: ProNav: ac range: 81.039062 m, nav range: 76.233444 m, bearing: 277.704921 deg, approach rate: -0.570291 m/s, LOS rate: 0.033952 deg/s, cmd heading: 277.051625 deg, new cmd heading: 277.089967 deg. Bhh:HeadingCmd: 4.836132 target range: 81.039062 and range: 81.40 m.h@h*h"h hgfffdddjdZd`S @EBɢM)I MiI)Ml1ۼQQiUimi] 9]<]I]@IY:G %checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264870)=9@9 @A@E3@At9YwAAEU< EU)EU)EQ"EU,r;*EU0;VEUFA4ZEQa]@a]@a]@a]@^A] Ia q Iy O >4,[;G?ARchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.518786QYe~ByeIbDVDy:;%4=ٔQ->9Y=eFyDE>Q 54󿛊?Q 94d)rQBYyQ I ?CI:i4:.u4yɮoAjh9=DNOT Ignoring new targets: 81.04 m.RhE3:ZhE3:U ProNav: ac range: 81.039062 m, nav range: 75.972603 m, bearing: 277.720503 deg, approach rate: -0.569534 m/s, LOS rate: 0.034141 deg/s, cmd heading: 277.089956 deg, new cmd heading: 277.136864 deg. BhUq:]HeadingCmd: 4.836951 target range: 81.039062 and range: 81.40 m.h]MȚ@hY*ha"ha hagafafifidididqjdqZdu@w @额Bɢz)  i)kOۼ顡ii5<"˻IMȚ@Ii@q @q@}4@yԉ]PExceeded connect timeout, disconnecting.eDAT read: 04:12:11.1408 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 406, 0.07,-1.049,-2.803,-0.868,-1.239, PHS= 0.292,-1.519, 0.327, RAW= 150.9, 9.9, CAL= 150.6, 10.7, ROT= 359.4, -10.7 mYgot valid direction response: 04:12:11.1408 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 406, 0.07,-1.049,-2.803,-0.868,-1.239, PHS= 0.292,-1.519, 0.327, RAW= 150.9, 9.9, CAL= 150.6, 10.7, ROT= 359.4, -10.7 uPDAT read: Bearing 87.0, 0.2 (Local) }~Local bearing/azimuth received: Bearing 87.0, 0.2 (Local) DAT read: Range 11 to 50 : 79.2 m (Round-trip 105.6 ms) speed 0.4 m/s (DAT read: user:98> ԩBDAT read: Tx time:04:12:12.2310 $Ping request sent.i5n¿5l>5(@5;0>58(@ 5t;?>)5@I5t;?115}+ ?#ҩ6?NF '? 5H ?)5Dh0I5D+i5t;?11:publishing transmit ping timeFpublishing direction and range infoy15Weq? &K{?Y11111 1)1I1i11111 1)1I1115}+ ?#ҩ6?NF '? 1)1I1i111^A #2B B B IB BB =B B B ;B 5EEe @ Ee 9Ee *Ea "Ee u;*Ee ;VEe (N4ZEa BEe ! ,~tUG?AYnBynIiMb@Mb@Mb@ 9"~?Q롿~jth?Y?y\D;A@ )CAYbD VD2y-P!=%-U=ٔ)Q-5>91Y1==eFy=D9E=>AQ 5M4E?Q 9M4Ej)E~QBYM=?Q EU:yu¿Q Iu?E CIE;iE3;E{4yɮ1AԱiaieLG?AJieBRieBjie}Қ@beS^S@E'5G-@ReWeq? &K{?ZieD+biet;?je6H#@@SS1@ZeS89M?J<]a?2ieu:ieAA"ielD힊?*ie4ڈ?BieBie5 ?ieXU"ieݩBieBie@5 addTargetRange:: Added new target pos. range: 79.199997 m, deltaT: 3.779857 s, deltaX: -2.200005 m, approachRate: -0.582034 m/s, rangeRepo size: 4 E Added new target pos. range: 78.849083 m, bearing: 277.208130 deg, lat: 36.779395 deg, lon: -121.859551 deg, deltaT: 3.779857 s, deltaX: -2.189980 m, approachRate: -0.579382 m/s, posRepo size: 4 jhAMDNOT Ignoring new targets: 78.85 m.RhmZhi} ProNav: ac range: 78.849083 m, nav range: 75.781677 m, bearing: 277.580243 deg, approach rate: 0.000000 m/s, LOS rate: 0.034141 deg/s, cmd heading: 277.136865 deg, new cmd heading: 277.177628 deg. BhyHeadingCmd: 4.837662 target range: 78.849083 and range: 79.20 m.h!Κ@h*h"h hgfffBdddjdS@Zd"?Bɢ]ݼ)1 %mi1)=Uۼ99i=1 zG,NoG?A4<ɰ;:H@:C@:N%ٱ:  FAHRS rotation from veh to nav: [[0.108070,0.982988,0.148513],[-0.993324,0.100707,0.056261],[0.040347,-0.153601,0.987309]]:H }?t?v?Oǹ?@5ά?j?5ÿ?i:H@I:t];8YJ~ByNI PPbDVVDVy^%^e=ٔb5Q-b>9`Yd=feFyfDfw;Ef>hQ 5n4j?Q 9n4jo)jQBYpyr¿Q Ir?j:CIj3;ija;j4ytɮvAt B*** querying acoustic contact ***i  i jhDNOT Ignoring new targets: 78.85 m.Rh%.:Zh%.:5 ProNav: ac range: 78.849083 m, nav range: 75.576012 m, bearing: 277.593210 deg, approach rate: -0.604735 m/s, LOS rate: 0.038231 deg/s, cmd heading: 277.177628 deg, new cmd heading: 277.216634 deg. Bh5:=HeadingCmd: 4.838343 target range: 78.849083 and range: 79.20 m.h=Ӛ@h9*h9"h9 h9gAfAfAfAdIdIdIjdIZdM@?}Bɢ})y }i)׆ۼ顁i,#i𸿉5<,gIӚ@IE%> E%3E%,E!"E%s;*E%t ;VE%g4ZE!a-@a-@a-@a-@9@ @@/@9T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.^A9IIO>i ~2,C7G?A nManaging dock network, ignoring radio surface power offM3O@MI@M?x%ٱM eAHRS rotation from veh to nav: [[0.108838,0.982984,0.147977],[-0.993239,0.101489,0.056364],[0.040387,-0.153112,0.987383]]MHܻ? t? ? *?۬?@?(ÿघ?iM3O@IMR[];MCYu~ByuI>=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.991048iMb@Mb@Mb@ 9Cl?99Y9==eFy=D=(:EE>AQ 5U4E›?Q 9U4Ev)EQBYU.?Q EU:yU¿Q IU?E[CIE ;iEC ;E4yeBɮe:Ae EjhDNOT Ignoring new targets: 78.85 m.Rh%:Zh%: ProNav: ac range: 78.849083 m, nav range: 75.322739 m, bearing: 277.609534 deg, approach rate: -0.560236 m/s, LOS rate: 0.036229 deg/s, cmd heading: 277.216642 deg, new cmd heading: 277.265777 deg. Bh:BiAm<Bu>Bu'CBuIBuCBBqBu?DBuDBu;Bu5EԁHeadingCmd: 4.839200 target range: 78.849083 and range: 79.20 m.hښ@h*h"h hgfffBdddjdZd/?= Bɢ=)9 =i)ۼ顁iݼi~Ը<?ŻIښ@IE%= E%7E%*E!"E%s;*E% ;VE%(N4ZE!BE%X,G?A2nU@2:P@2%ٱ2kp :AHRS rotation from veh to nav: [[0.109594,0.982921,0.147839],[-0.993154,0.102237,0.056496],[0.040417,-0.153019,0.987396]]2HQ?t?f?4,???@ ÿ`?i2nU@I2p];0\YnBynIbDvVDvܲy~=%~a=ٔQ->9Y=eFy D  ;E >Q 54Û?Q 94{)QBY!y%¿Q I%?uCI;i;S4y)ɮ-A)jhQUDNOT Ignoring new targets: 78.85 m.Rh];%:Zh];%:m ProNav: ac range: 78.849083 m, nav range: 75.119095 m, bearing: 277.622620 deg, approach rate: -0.560454 m/s, LOS rate: 0.036114 deg/s, cmd heading: 277.265765 deg, new cmd heading: 277.305131 deg. BhmG:uHeadingCmd: 4.839888 target range: 78.849083 and range: 79.20 m.hu\@hq*hq"hq hygyfyffdddjdZd\?颵 Bɢ) i)ۼ项iiD<ĻI\@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.496142vт9@ @@/@E=A E=:E=-E9"E=v;*E=$ ;VE=t4ZE9aM@aM@aM@aM@! ^A] Tл checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747063Q A I I O >,jG?A V]@VX@Vk%ٱV _ fAHRS rotation from veh to nav: [[0.110596,0.982971,0.146756],[-0.993043,0.103287,0.056548],[0.040427,-0.151989,0.987555]]VH P?~t??q??۲?atÿ ?iV]@IVV];VCYnBynIbDvVDv!y~S;%~4=ٔ強Q->9Y= eFy D ;E >Q 54ě?Q 94)QBY!y%¿Q I%?CI:i:F4yɮAjhDNOT Ignoring new targets: 78.85 m.Rh:Zh: ProNav: ac range: 78.849083 m, nav range: 74.864349 m, bearing: 277.638898 deg, approach rate: -0.540530 m/s, LOS rate: 0.034656 deg/s, cmd heading: 277.305134 deg, new cmd heading: 277.354132 deg. BhE:HeadingCmd: 4.840743 target range: 78.849083 and range: 79.20 m.h]@h*h"h hgff f d d d jdZd (?eBɢeM)i m ii)mۼiiimuiuu <}I}]@Iyԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.9995180I)dAB>BBIBMBB =BBBu;B5E=9@9 @A@E/@A@M=@M=E  E >E )E "E *E ?;VE FA4ZE BE y,WG?A4bce@b/`@br'ٱb rAHRS rotation from veh to nav: [[0.111526,0.983061,0.145441],[-0.992921,0.104213,0.056991],[0.040869,-0.150768,0.987724]]bH ? 9Y=eFy D !:E >Q 54ś?Q 94/)QBY% ?Q E%:y%Q I%?CI ;i? ;_4y)ɮ-A)jhQ]DNOT Ignoring new targets: 78.85 m.Rh]:Zh]:m ProNav: ac range: 78.849083 m, nav range: 74.579399 m, bearing: 277.655891 deg, approach rate: -0.565003 m/s, LOS rate: 0.033823 deg/s, cmd heading: 277.354120 deg, new cmd heading: 277.405294 deg. Bhm:uHeadingCmd: 4.841636 target range: 78.849083 and range: 79.20 m.hu@hq*hy"hy hygyfyffBdddjdZd@颵Bɢ)C) @ i)ۼi9iq'<I@Iԙ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5031299@9 @9@9@9@E@E@M@M bEjET\4rE5/E5 E E5 4E5 -E1 "E5 Vz;*E5 ;VE5 t4ZE1 aE @aE @aE @aE @! A1I9IQO]>E,uG?A.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7547576i@6d@6C:(ٱ6~ BAHRS rotation from veh to nav: [[0.112068,0.983194,0.144117],[-0.992852,0.104796,0.057123],[0.041060,-0.149489,0.987911]]6H@|?Sv?`pr?`q Ӻ?)???@s"ÿ?i6i@I6!^;6CYFByFIbDRVDRk1yZQ%%Z?=ٔZQ-^>9\Y\=^eFy^DbP:Eb>dQ 5j4fǛ?Q 9j4f])fQBYhynQ In?fCIf3;ifr;fۨ4yrܒBɮrArE B*** querying acoustic contact ***i ijh)5DNOT Ignoring new targets: 78.85 m.Rh=k:ZhEk: ProNav: ac range: 78.849083 m, nav range: 74.344910 m, bearing: 277.669878 deg, approach rate: -0.542138 m/s, LOS rate: 0.032440 deg/s, cmd heading: 277.405292 deg, new cmd heading: 277.447385 deg. Bh:HeadingCmd: 4.842371 target range: 78.849083 and range: 79.20 m.h @h *h "h  h gfffdddjdZd@颍Bɢ{w) i)ۼ顙iil-<&+ȻI@Ia@a @a@e/@aAII O-p> BDAT read: Rx Time:04:12:14.7382 TRx dataTimestamp_ set to:1761538336.224126checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007796ABM >BI BM IBM WBBI BI BI BM w;BI B 'CB 'CB B B C ɁW5E= U E= ^E= +E9 "E= l;*E=  ;VE= [4ZE9 BE= 9Y=eFyDG:E>Q 54ț?Q 94ؖ)QBY?Q E:y Q I?CIP ;i ;w4yɮjh  DNOT Ignoring new targets: 78.85 m.Rh9Zh9Q ProNav: ac range: 78.849083 m, nav range: 74.098137 m, bearing: 277.680486 deg, approach rate: -0.572225 m/s, LOS rate: 0.024681 deg/s, cmd heading: 277.447393 deg, new cmd heading: 277.479324 deg. Bh:HeadingCmd: 4.842928 target range: 78.849083 and range: 79.20 m.hD@h*h"h hguchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.258896fyfyf}BdddjdZd: @uBɢuc)y }؛i) ܼ顙i\iYZ<x»ID@Iԉ9@ @!@!@)A .AI I O >U DAT read: 04:12:14.7382 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 412, 0.43,-2.634, 1.954,-2.466,-2.706, PHS= 0.174,-1.577, 0.197, RAW= 150.6, 13.6, CAL= 150.7, 15.1, ROT= 359.3, -15.1 ] Ygot valid direction response: 04:12:14.7382 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 412, 0.43,-2.634, 1.954,-2.466,-2.706, PHS= 0.174,-1.577, 0.197, RAW= 150.6, 13.6, CAL= 150.7, 15.1, ROT= 359.3, -15.1 e PDAT read: Bearing 91.5, -0.3 (Local) e ~Local bearing/azimuth received: Bearing 91.5, -0.3 (Local) u DAT read: Range 11 to 50 : 77.3 m (Round-trip 103.1 ms) speed 0.4 m/s u (DAT read: user:99> } BDAT read: Tx time:04:12:15.8310  $Ping request sent. i% #ɿ% ^I>% 8(@% s>% aU(@ % V>)% ū@I% V! ! % (?$l?2? % .?)% sI% D+Hi% V! !  :publishing transmit ping time  Fpublishing direction and range infoy! % (?Er(QfJ0?Y! ! ! ! ! ! )! I! i! ! ! ! ! !  ,1H?Abs@byn@bI)ٱbe jAHRS rotation from veh to nav: [[0.113256,0.983266,0.142694],[-0.992708,0.106019,0.057360],[0.041272,-0.148150,0.988103]]bHR?v?C?@D@$?@V^?!?`¿?ibs@Ib_;bC)QIQQQU(?$l?2? Q)QIQiQQQY}~By}IbDVD:y%<ٔpQ->9 ?Y ?=eFyDnj:E>EJ E9E&E"E~;*E ;VE4ZEa@a @a @a @ Q 554 Fʛ?Q 9=4 ) QBY9y=Q I=? CI >;i ; 4yAɮEAIiQiUʍ.H?AJiUBRiUBjiUU@bUCS͒R@y !( 4@RU(?Er(QfJ0?ZiUD+HbiUVjUZ;$@,RAu~7@ZUSR0.D?]DR:Px3S"?2iUe:iU&A"iUq,5?*iU$BiUBiUiP0?iQiQiUٓBiUKH@5 addTargetRange:: Added new target pos. range: 77.300003 m, deltaT: 3.528080 s, deltaX: -1.899994 m, approachRate: -0.538535 m/s, rangeRepo size: 4 E Added new target pos. range: 76.956429 m, bearing: 278.127670 deg, lat: 36.779399 deg, lon: -121.859551 deg, deltaT: 3.528080 s, deltaX: -1.892654 m, approachRate: -0.536454 m/s, posRepo size: 4 jhAMDNOT Ignoring new targets: 76.96 m.RhmZhi} ProNav: ac range: 76.956429 m, nav range: 73.924911 m, bearing: 278.032068 deg, approach rate: 0.000000 m/s, LOS rate: 0.024681 deg/s, cmd heading: 277.479331 deg, new cmd heading: 277.511104 deg. BhyHeadingCmd: 4.843482 target range: 76.956429 and range: 77.30 m.h@h*h"h hgfffdddjd@3SS@Zdٲ?Bɢ5)9 =i9)=aܼ99i=Nie0Heo0@II)O5>) Y C,!KH?A5w@5vr@5 )ٱ5 MAHRS rotation from veh to nav: [[0.113739,0.983311,0.141998],[-0.992654,0.106539,0.057343],[0.041257,-0.147477,0.988205]]5H ?Hw?,?"F? \??`¿ _?i5w@I5o^;5CY]~By]I%=9Y=eFyD%ژ:E%>)Q 554-˛?Q 954-I)-QBY5?Q E5:y=Q I=?-5CI-';i-o;-ھ4yAɮE5AAjhimDNOT Ignoring new targets: 76.96 m.Rhu:Zhu: ProNav: ac range: 76.956429 m, nav range: 73.685463 m, bearing: 278.044996 deg, approach rate: -0.607295 m/s, LOS rate: 0.032896 deg/s, cmd heading: 277.511105 deg, new cmd heading: 277.550017 deg. Bh:HeadingCmd: 4.844162 target range: 76.956429 and range: 77.30 m.h_@h*h"h hgffB>BBIBMBB =BBBd;B}5EfzBd9d9d9jd9ZdE ?颍Bɢ&) E,dH?A02o{@2;v@2'ٱ2 >AHRS rotation from veh to nav: [[0.114197,0.983246,0.142079],[-0.992612,0.107026,0.057154],[0.040991,-0.147557,0.988204]]2H 9XYX=ZeFy^D^:E^>`Q 5f4b̛?Q 9f4b)bRBYhyj￿Q Ij?bOCIb@:ib:bŢ4ylɮryApjhDNOT Ignoring new targets: 76.96 m.Rh< :Zh< : ProNav: ac range: 76.956429 m, nav range: 73.478073 m, bearing: 278.056187 deg, approach rate: -0.558351 m/s, LOS rate: 0.030214 deg/s, cmd heading: 277.550010 deg, new cmd heading: 277.583677 deg. Bh:HeadingCmd: 4.844749 target range: 76.956429 and range: 77.30 m.h/@h*h"h hgfffdddjdZd.?e!Bɢet)a mJii)mݼiiimHi< һI/@I CuGԑ(hA9(hAYAy@y @y@}/@yy?OAԹE%E E%FE!E!"E%Vz;*E%v;VE!ZE!a-@a-@a-@a-@^AII O > ,m~H?ARL@R|@R=$ٱR` fAHRS rotation from veh to nav: [[0.114911,0.983047,0.142876],[-0.992562,0.107803,0.056561],[0.040200,-0.148313,0.988123]]RHj?u?I?`???`¿`?iRL@IR];RCYr~ByrIbD VD y%*¼%%C=ٔ-G:Q-->91Y1==eFy=DE:EE>QQ 5e4UsΛ?Q 9e4U6)URBYaye׿Q Ie?UoCIU9;iU3;Uo̢4yqɮuAqB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 76.96 m.Rh:Zh: ProNav: ac range: 76.956429 m, nav range: 73.231987 m, bearing: 278.069408 deg, approach rate: -0.604046 m/s, LOS rate: 0.032560 deg/s, cmd heading: 277.583669 deg, new cmd heading: 277.623464 deg. BhIJ:HeadingCmd: 4.845444 target range: 76.956429 and range: 77.30 m.h @h*h"h hgfffdddjdZd ?$Bɢ) ri)cݼ i oi N<I @I)@) @)@)@)@5fA@5gAT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.^A[RӻBA4=B>B&CBIB9BB =BBBf;B|5EI I O >A D D E!  E% DE! E! "E! *E% h;VE! ZE! BE% 9Y=eFyD~8E>Q 54Л?Q 94)RBY?Q E:yἿQ I?CI:i:Ӣ4y֒BɮQA EjhDNOT Ignoring new targets: 76.96 m.Rh 9Zh 9 ProNav: ac range: 76.956429 m, nav range: 72.976509 m, bearing: 278.078571 deg, approach rate: -0.613245 m/s, LOS rate: 0.022072 deg/s, cmd heading: 277.623475 deg, new cmd heading: 277.651061 deg. Bh]r:%HeadingCmd: 4.845925 target range: 76.956429 and range: 77.30 m.h%@h!*h!"h! h!g)f)f)f- Bd1d1d1jd1Zd=@?e(Bɢe)a elii)m`.޼iiim% iu$u;ug߻Iu@Iy]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753322i@ @@/@ԑ^AA zA fAIq I O >  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004164s,,-_H?A;ɰ4<6*@6}@6:Yٱ6 BAHRS rotation from veh to nav: [[0.115143,0.983106,0.142283],[-0.992587,0.108260,0.055230],[0.038894,-0.147588,0.988284]]6Hz?u?W6?@F?'G??)¿?i6*@I6W];4YJ~ByJIbDRVDR:yZc%Z[=ٔ^k:Q-^>9\Y`=beFybDb9Eb>dQ 5j4fTқ?Q 9j4f)f(RBYlynۼQ In?fCIf<;ifw;fBڢ4ypɮrVAtjh DNOT Ignoring new targets: 76.96 m.Rh9Zh9% ProNav: ac range: 76.956429 m, nav range: 72.748520 m, bearing: 278.086770 deg, approach rate: -0.611554 m/s, LOS rate: 0.022062 deg/s, cmd heading: 277.651069 deg, new cmd heading: 277.675743 deg. Bh-@r:-HeadingCmd: 4.846356 target range: 76.956429 and range: 77.30 m.h-Y@h)*h1"h1 h1g1f1f9f9d9d9dAjdAZdE @m+Bɢmv)q uiq)uX޼qԙEG EE+E"E&|;*EVE [4ZEa@a@a@a@iSi귿;I%Y@I!9@ @@/@uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.257564^AcջIYIiOu> 2,LH?AeQ@e{@eh%ٱeJ AHRS rotation from veh to nav: [[0.114801,0.983066,0.142836],[-0.992648,0.107971,0.054705],[0.038356,-0.148066,0.988233]]eHc?Fu?uH?@?H?@q?¿?ieQ@IeI0];eCYychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.508218iMb@Mb@Mb@B>BBIB%BBBBBp;B5E 9+?{GztY?yףhA )YbDVDN2ٔ:Q->9Y=eFyD@E>Q 54ԛ?Q 94)4RBY?Q E:yVQ I?CIu ;i ;4yɮjh%DNOT Ignoring new targets: 76.96 m.Rh-9Zh-9= ProNav: ac range: 76.956429 m, nav range: 72.453857 m, bearing: 278.094677 deg, approach rate: -0.623015 m/s, LOS rate: 0.016788 deg/s, cmd heading: 277.675740 deg, new cmd heading: 277.699560 deg. Bh=V8:=HeadingCmd: 4.846772 target range: 76.956429 and range: 77.30 m.hE@hA*hA"hA hAgAfIfIfM BdQdQdQjdQZdU@@颅.BɢT) i)Y߼顉iKifܷ;"I@IDzDE_ E>E)E"E;*E?;VEFA4ZEBElm9,YH?AY~ByIbDMVDMk2y]%]<ٔeQ-e>9e"?Ye"?=eeFye DmEm>qQ 5}4u֛?Q 9}4ug)u=RBYyyQ I?uCIu;iuw;u4yɮsAjhDNOT Ignoring new targets: 76.96 m.Rh=9Zh=9M ProNav: ac range: 76.956429 m, nav range: 72.231812 m, bearing: 278.100679 deg, approach rate: -0.623428 m/s, LOS rate: 0.016903 deg/s, cmd heading: 277.699564 deg, new cmd heading: 277.717624 deg. BhU9:Q]HeadingCmd: 4.847087 target range: 76.956429 and range: 77.30 m.h]V@hY*ha"ha hagafafifidididijdqZdu@w@额1BɢC ) fýi)m߼顡iiҷa;IV@Ie9@a @aBDAT read: Rx Time:04:12:18.3353 TRx dataTimestamp_ set to:1761538339.752223checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013352@$1@ԁEE E2EE"EVz;*E;VEZEa@a@a@a@Թ^A PA >A >A9 II IY Oe > A?,H?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.265039,,z}@zw@zHEٱz΃  AHRS rotation from veh to nav: [[0.114403,0.983066,0.143151],[-0.992720,0.107666,0.053981],[0.037655,-0.148285,0.988228]]zHI?Gu? R?]?v?@~G?¿`?iz}@Iza];xY~ByIbD-VD-k1y=0%=L=ٔ=:Q-=>9AYA=EeFyEDM EM>QQ 5]4U<ٛ?Q 9]4U)UFRBYYy]dQ Ie?UCIU;iU;U4yiɮmAiB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 76.96 m.Rh<9Zh<9 ProNav: ac range: 76.956429 m, nav range: 71.982285 m, bearing: 278.107548 deg, approach rate: -0.622088 m/s, LOS rate: 0.017183 deg/s, cmd heading: 277.717623 deg, new cmd heading: 277.738300 deg. Bh<:HeadingCmd: 4.847448 target range: 76.956429 and range: 77.30 m.hK@h*h"h hgfffdddjdZd @3Bɢr) i)ii@Ʒ ׋; 1I K@IԱ1@1 @9@=4@9UDAT read: 04:12:18.3353 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 415, 0.13,-0.160,-1.850, 0.030,-0.260, PHS= 0.202,-1.544, 0.247, RAW= 151.3, 12.3, CAL= 151.2, 13.7, ROT= 358.8, -13.7 ]Ygot valid direction response: 04:12:18.3353 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 415, 0.13,-0.160,-1.850, 0.030,-0.260, PHS= 0.202,-1.544, 0.247, RAW= 151.3, 12.3, CAL= 151.2, 13.7, ROT= 358.8, -13.7 ePDAT read: Bearing 90.0, -0.9 (Local) e~Local bearing/azimuth received: Bearing 90.0, -0.9 (Local) AAB>BBIBBBBBDB;B5E^ADAT read: Range 11 to 50 : 75.1 m (Round-trip 100.2 ms) speed 0.6 m/s *DAT read: user:100> BDAT read: Tx time:04:12:19.4309 $Ping request sent.iˡſ|>)@[>[(@ Gt>)Hd@IGtin$?f.9?]?  ?)E\IiGt= :publishing transmit ping time= Fpublishing direction and range infoyT/?z Ք4ӋHP?Y )Ii )Iin$?f.9?]? )IiA I I E% O E% FE% ,E! "E% ;*E% v;VE% g4ZE! BE% 1 &F,I?A25z@2u@2ٱ2 :AHRS rotation from veh to nav: [[0.114066,0.983177,0.142661],[-0.992782,0.107450,0.053272],[0.037047,-0.147708,0.988337]]2Hm3?`/v?@B? ߁?F??¿u?i25z@I2];2CYR~ByRIiMb@Mb@Mb@ 9Cl?{Gzt~jtx?Y;?y;A\@ A)1AYAbDVDNyW<%?=ٔҸ:Q->9Y=eFyD%PE%>)Q 5U4-ۛ?Q 9U4-)-TRBYU>?Q E]:y]AQ I]?-1CI-;i-;-H4yeΒBɮehAe)EiivI?AJiBRiBji@bul'R@EPVl61@RT/?z Ք4ӋHP?ZibiGtj/ՠ"@QQw@jj4@Z4r?Y՟MW~y?2i:iA"ix잊?*i*Bi6Bi5 ?i;*iiBiB@ addTargetRange:: Added new target pos. range: 75.099998 m, deltaT: 3.529833 s, deltaX: -2.200005 m, approachRate: -0.623260 m/s, rangeRepo size: 4  Added new target pos. range: 74.764503 m, bearing: 277.440774 deg, lat: 36.779395 deg, lon: -121.859554 deg, deltaT: 3.529833 s, deltaX: -2.191925 m, approachRate: -0.620971 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 74.76 m.RhZh ProNav: ac range: 74.764503 m, nav range: 71.944817 m, bearing: 277.731071 deg, approach rate: 0.000000 m/s, LOS rate: 0.017183 deg/s, cmd heading: 277.738304 deg, new cmd heading: 277.762166 deg. Bh=HeadingCmd: 4.847864 target range: 74.764503 and range: 75.10 m.h=!@h9*h9"h9 hAgAfAfIfMBdIdIdIjdU`fR@ZdU_?额6BɢR ) fi)i\!i<.;I!@IA9@ @@4@@!@!i ^A= ԑ Aq Iy I O >L,X6I?A2uu@2Ap@2;ٱ2 :AHRS rotation from veh to nav: [[0.113492,0.983415,0.141471],[-0.992862,0.107003,0.052682],[0.036670,-0.146440,0.988540]]2H ?`#x??d??iƢ?¿?i2uu@I2];2CYB~ByBIbE}FA4jE}G4rE}/EJS EJAEJ*EH"EJ;*EJ;VEJ(N4ZEHaR@aR@aR@aR@bDZVDZyb%bI=ٔbu:Q-b>9dYd=feFyf#DjEj>lQ 5r4nݛ?Q 9r4n})n`RBYpyrTQ Iv?nQCIn:in;nR4yxɮzAxjhDNOT Ignoring new targets: 74.76 m.Rh%9Zh%95 ProNav: ac range: 74.764503 m, nav range: 71.694565 m, bearing: 277.736604 deg, approach rate: -0.674939 m/s, LOS rate: 0.014973 deg/s, cmd heading: 277.762156 deg, new cmd heading: 277.778810 deg. Bh5i$:=HeadingCmd: 4.848155 target range: 74.764503 and range: 75.10 m.h=$@h9*h9"hA hAgAfAfAfIdIdIdQjdQZdU P?8Bɢ) xi)iH!)i-!i55$;5i$I5$@I1@ @@/@Q^A%A!zA%dAԁA} .AI I O >Ա S,PI?Afq@fk@fh&ٱf  rAHRS rotation from veh to nav: [[0.112963,0.983590,0.140677],[-0.992932,0.106562,0.052254],[0.036406,-0.145585,0.988676]]fH ?y??`G???¿ ;?ifq@If];fCYz~ByzIBBBBB =BBB;B5EB&CB&CBB =B =Ck5 !!%=%=i Mb@Mb@Mb@     9 RQ?I +9= ?Y= ?==eFyE,DEEE>IQ 5U4MH?Q 9U4M)MoRBY]"?Q E]:y]~Q I]?MvCIM ;iM:M.4yaɮeAaԉjhDNOT Ignoring new targets: 74.76 m.Rh*9Zh*9 ProNav: ac range: 74.764503 m, nav range: 71.409447 m, bearing: 277.745033 deg, approach rate: -0.633832 m/s, LOS rate: 0.018815 deg/s, cmd heading: 277.778821 deg, new cmd heading: 277.804211 deg. BhN:HeadingCmd: 4.848598 target range: 74.764503 and range: 75.10 m.h'@h*h"h hgfffBdddjdZd\?EI EBE'E"E};*EZ;VE'4ZEBE. Y,iI?A2sm@2?h@2m6ٱ2F :AHRS rotation from veh to nav: [[0.112523,0.983693,0.140308],[-0.992990,0.106181,0.051922],[0.036177,-0.145167,0.988746]]2H@Tμ?iz??.?w?ą?ؔ¿ͣ?i2sm@I2;^;2CYB~ByBIbDNVDN0yV%Vh=ٔV'*:Q-V>9XYX=ZeFyZ3DZ٤E^>`Q 5f4b⛊?Q 9f4b)b{RBYdyfQ If?bCIb:ib:bY 4ylɮnAljhDNOT Ignoring new targets: 74.76 m.Rh9Zh9 ProNav: ac range: 74.764503 m, nav range: 71.185791 m, bearing: 277.751774 deg, approach rate: -0.602470 m/s, LOS rate: 0.018216 deg/s, cmd heading: 277.804202 deg, new cmd heading: 277.824489 deg. BhH:HeadingCmd: 4.848952 target range: 74.764503 and range: 75.10 m.h*@h*h"h hgfffddd jd Zd o?额=BɢQ) ̽i)%顡iSi0;=I*@I)@) @1@1@1E@ E6E)E"Eu;*E ;VEFA4ZEa@a@a@a@^A:Q AE ؟AIY Iq O >`,CȃI?A:j@:fe@:6ٱ: BAHRS rotation from veh to nav: [[0.112179,0.983784,0.139947],[-0.993040,0.105905,0.051530],[0.035874,-0.144753,0.988817]]:H`ɷ?@({? ?@?@)b?`^?G¿d?i:j@I:];:CYJ~ByJIbDRVDRk2yZND=%ZI=ٔ^D:Q-^>9b"?Yb"?=beFyb;Dbt`Ef>dQ 5j4f;䛊?Q 9j4f)fRBYlynQ In?fCIf;if;fp4yrƒBɮvAv2EB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 74.76 m.Rh9Zh9- ProNav: ac range: 74.764503 m, nav range: 70.928627 m, bearing: 277.759652 deg, approach rate: -0.663221 m/s, LOS rate: 0.020389 deg/s, cmd heading: 277.824501 deg, new cmd heading: 277.848219 deg. Bh-_:5HeadingCmd: 4.849366 target range: 74.764503 and range: 75.10 m.h5.@h1*h1"h1 h1g9f9f9fAdAdAdAjdAZdM ~?u>BɢuK )q }iy)}yyi}nicv;}GI.@I9@ @@0@QT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.B <A <B%>B!B%IB%BB!B!B!B%;B%5E^Aml;Au>Au>A .AI I E I E 5E (E "E };*E ;VE c44ZE BE a 2E a JE gg,I?APY~~By~II C>) a=iIchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.231672iMb@Mb@Mb@ 9Q?S㥛 rh?Y(?y/ݼC<Aj@ A)AYAbD VD2y%,<%%5=ٔ%Q-->9- ?Y- ?=-eFy-DD5E5>9Q 5E4=囊?Q 9E4=)=RBYE_?Q EE:yE¿Q IM?=CI=U:i=E:=O4yQɮUiAQjhy}DNOT Ignoring new targets: 74.76 m.Rhf:Zhf: ProNav: ac range: 74.764503 m, nav range: 70.654625 m, bearing: 277.773612 deg, approach rate: -0.608501 m/s, LOS rate: 0.031124 deg/s, cmd heading: 277.848216 deg, new cmd heading: 277.890260 deg. Bh:HeadingCmd: 4.850100 target range: 74.764503 and range: 75.10 m.h4@h*h"h hgfff~BdddjdZdY@颽@Bɢ$) i)MiՠiVoW;QI4@II)@ @@/@G-hAIc9hAY~A^Am NJN checking for new query: numPingsReceived=0, elapsed TxPingTime=2.484487) A I I O >;m,~I?A22h@2b@2?ٱ2 :AHRS rotation from veh to nav: [[0.111890,0.983817,0.139946],[-0.993097,0.105716,0.050827],[0.035210,-0.144667,0.988854]]2Hؤ?`m{??`r@/???u¿?i22h@I2B];2CEFO EF?EF-ED"EF;*EF;VEFt4ZEDaJ@aJ@aJ@aJ@YN ByNIbDVVDVyb{=%bd=ٔb:Q-b>9dYd=feFyfKDfVEj>hQ 5r4j>益?Q 9r4j})jRBYpyr̿Q Ir?jCIj;ij;j!4yxɮzAx|jh%DNOT Ignoring new targets: 74.76 m.Rh%:Zh%:5 ProNav: ac range: 74.764503 m, nav range: 70.436562 m, bearing: 277.784853 deg, approach rate: -0.607016 m/s, LOS rate: 0.031387 deg/s, cmd heading: 277.890263 deg, new cmd heading: 277.924089 deg. Bh5S:=HeadingCmd: 4.850690 target range: 74.764503 and range: 75.10 m.hE8@hA*hA"hA hAgAfAfIfIdIdIdQjdQZdU 8@ABɢ) `i)9ii \ 9; J^I8@I19@ @@n2@)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.736056Q^AMAIA ԉ I I O >&&t,fI?A*BDAT read: Rx Time:04:12:21.9322 2TRx dataTimestamp_ set to:1761538343.283426:checking for new query: numPingsReceived=0, elapsed TxPingTime=2.992977BZ>BZ%CBZIBZ%BBXBXBXBZz;BZ5EQUg@Ub@UaٱU3 AHRS rotation from veh to nav: [[0.111840,0.983756,0.140415],[-0.993114,0.105691,0.050528],[0.034866,-0.145099,0.988803]]UH?z? ??@ީ?١?¿@E?iUg@IUv];UCYyiMb@Mb@Mb@ 9S?MbI +?Y/?y9<hA A)AYAbDVDٔ=:Q->9Y=eFyUDE>Q 54蛊?Q 94#)RBY ?Q E :y Q I ?CI ;iC ;)4yɮE- E&E+E"Ed;*E;VE [4ZEBE>i%>9@ @@[0@Աchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.239586 ^A cA zA AM ؟AIY Iq O >z,I?A@Vg@Vb@V ٱVJ AHRS rotation from veh to nav: [[0.111861,0.983736,0.140536],[-0.993123,0.105751,0.050242],[0.034563,-0.145189,0.988800]]VH ? z??}?`Z? I?`¿??iVg@IVm];TY5By5I QQbDVDy<%<ٔFC:Q->9"?Y"?=eFy]DDAT read: 04:12:21.9322 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 415, 0.13,-2.729, 1.817,-2.537,-2.884, PHS= 0.257,-1.537, 0.303, RAW= 151.3, 10.8, CAL= 151.1, 11.8, ROT= 358.9, -11.8 Ygot valid direction response: 04:12:21.9322 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 415, 0.13,-2.729, 1.817,-2.537,-2.884, PHS= 0.257,-1.537, 0.303, RAW= 151.3, 10.8, CAL= 151.1, 11.8, ROT= 358.9, -11.8 PDAT read: Bearing 88.1, -0.8 (Local) ~Local bearing/azimuth received: Bearing 88.1, -0.8 (Local) DAT read: Range 11 to 50 : 72.8 m (Round-trip 97.1 ms) speed 0.6 m/s *DAT read: user:101> BDAT read: Tx time:04:12:23.0309 $Ping request sent.rG,?Y%B!!!! !)%EI%>i%jĿ%">!%A>%(@ %BR>)%r@I%BR!!% 2?O?VZ? %2 ?)%S@I%Fi%BR!!u:publishing transmit ping timeuFpublishing direction and range infoy!%EagQ?^q+>rG,?Y!!!!! !)!I!i!!!!! !)!I!!!% 2?O?VZ? !)!I!i!!!ԩe68E>Q 54wꛊ?Q 94 )RBYyQ I?=CI:i(:+24y ɮ Ai!i%KrG,?Zi%Fbi%BRj%RBZ!@vuQ7M1@Z%Q~??~`7*z?2i%:i% A"i%Ş?*i%:Bi%'Bi%lD힊?i%*i%6Bi%Bi%@ addTargetRange:: Added new target pos. range: 72.800003 m, deltaT: 3.527693 s, deltaX: -2.299995 m, approachRate: -0.651983 m/s, rangeRepo size: 4 Em& Em!Em,Ei"Em8^;*Em:VEmg4ZEiau@au@au@au@ Added new target pos. range: 72.474213 m, bearing: 277.082347 deg, lat: 36.779392 deg, lon: -121.859554 deg, deltaT: 3.527693 s, deltaX: -2.290291 m, approachRate: -0.649232 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 72.47 m.RhZh ProNav: ac range: 72.474213 m, nav range: 69.834396 m, bearing: 277.526545 deg, approach rate: 0.000000 m/s, LOS rate: 0.033346 deg/s, cmd heading: 277.974356 deg, new cmd heading: 278.021073 deg. Bh9EHeadingCmd: 4.852383 target range: 72.474213 and range: 72.80 m.hEF@hA*hA"hA hIgIfIfIfIdQdQdQjdU@33R@Zd]?颥DBɢH) 1i)顩ii=i$;vIF@I@ @@0@ ^A m1 A.AIIO>6,w J?AAYU)ByUIbDmVDmyu[ =%u(=ٔ}Q-}>9 ?Y ?=eFygDE>Q 5 4뛊?Q 94)RBY!y)Q I-?_CIBBIBCBBBBDBg;Bt5EB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 72.47 m.Rh :Zh : ProNav: ac range: 72.474213 m, nav range: 69.570930 m, bearing: 277.540802 deg, approach rate: -0.570191 m/s, LOS rate: 0.030973 deg/s, cmd heading: 278.021074 deg, new cmd heading: 278.064009 deg. Bh  :-HeadingCmd: 4.853133 target range: 72.474213 and range: 72.80 m.h5L@h1*h1"h1 h1g1f1f9f9d9d9dAjdAZdE?iEBɢw) Xi)ii v;IML@IIDD=E$ E'E-E"Eg\;*E";VEt4ZEBE0,*J?A(Y :ByIiMb@Mb@Mb@ 9rh|?Zd;O{Gz?Y?yj<ף<A A)AYbDVDfy=% 0=ٔ Q->9Y=eFypDE%>yQ 54}웊?Q 94}!)}SBYn?Q E:yÿQ I?}CI} ;i}L ;}A4yɮ AjhDNOT Ignoring new targets: 72.47 m.Rhh:Zhh: ProNav: ac range: 72.474213 m, nav range: 69.289536 m, bearing: 277.561669 deg, approach rate: -0.683816 m/s, LOS rate: 0.050914 deg/s, cmd heading: 278.064023 deg, new cmd heading: 278.126876 deg. Bh ;HeadingCmd: 4.854230 target range: 72.474213 and range: 72.80 m.hU@h*h"h hgfff:BdddjdZd`?%FBɢ%)! %pGi!)--))i-i5趿5x;5өI5U@I9Aԁ-checking for new query: numPingsReceived=0, elapsed TxPingTime=0.986359@ @@4@ԩEm+ Em%Em)Ei"Emb;*Em;VEmFA4ZEia}@a}@a}@a}@^AA>A> A IA IQ Oe > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.237693S, CJ?A2x@2]s@2ٱ2Z >AHRS rotation from veh to nav: [[0.113883,0.983433,0.141031],[-0.992940,0.107924,0.049224],[0.033188,-0.145641,0.988781]]2Hi'? Ix?I ?)?3?` ?Y¿?i2x@I28];2CYF9ByDIJ<)Jx>bDNVDNdyj%ja=ٔnx;Q-n>9pYp=reFyrwDr;Ev>tQ 5z4v훊?Q 9~4v!)vSBY|y~fÿQ I~?vCIv;iv;vG4yɮ A jhDNOT Ignoring new targets: 72.47 m.RhgB:ZhgB: ProNav: ac range: 72.474213 m, nav range: 69.076439 m, bearing: 277.577217 deg, approach rate: -0.580550 m/s, LOS rate: 0.042490 deg/s, cmd heading: 278.126888 deg, new cmd heading: 278.173677 deg. BhH:HeadingCmd: 4.855047 target range: 72.474213 and range: 72.80 m.h\@h*h"h hgfffdddjdZdb?GBɢ0) P^i)+ii@Ͷ2z;M|I\@I9@ @@/@!B}>B}#CB}IB}lBByByB}DB}E;B}Y5Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.492046^A]A E ( E !E E "E `;*E :VE ZE BE S9E"?YE"?=EeFyEDM:EM>QQ 5]4UW?Q 9]4U()U/SBY]?Q E]:yeſQ Ie?UCIUA;iU:UO4yiɮmcAiiߑIߕAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.742074jhDNOT Ignoring new targets: 72.47 m.Rho:Zho: ProNav: ac range: 72.474213 m, nav range: 68.816383 m, bearing: 277.599935 deg, approach rate: -0.597315 m/s, LOS rate: 0.052378 deg/s, cmd heading: 278.173688 deg, new cmd heading: 278.242100 deg. Bh;HeadingCmd: 4.856241 target range: 72.474213 and range: 72.80 m.hSf@h*h"h hgfffBdddjdZd`U?ɢӪּ) 9lYl=neFynDrĈ;Er>tQ 5z4v?Q 9z4v.)vCSBYxyzWſQ Iz?vCIvK:iv :v V4yɮ.Ajh)-DNOT Ignoring new targets: 72.47 m.Rh5g:Zh5g:ybEjE(N4rE/0E5 EEE"Ek;*EVEZEa@a@a@a@ ProNav: ac range: 72.474213 m, nav range: 68.609253 m, bearing: 277.617918 deg, approach rate: -0.581910 m/s, LOS rate: 0.050673 deg/s, cmd heading: 278.242099 deg, new cmd heading: 278.296210 deg. Bh ;HeadingCmd: 4.857185 target range: 72.474213 and range: 72.80 m.hn@h*h"h hgfffdddjdZd J-@mHBɢmμ)i mt"=ii)umqii*Ly;oIn@IU9@Q @Q@U/@Qԩchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.245686^Am}UAqzAugAA I I O > ",KYJ?AVE@V@VٱVv vAHRS rotation from veh to nav: [[0.120034,0.983427,0.135877],[-0.992278,0.114537,0.047603],[0.031251,-0.140542,0.989581]]VH?B!CB'IBBB =BBDB;B85EB%CB$CBCB =B =Co5IV];VCY~ByI iMb@Mb@Mb@ 9&1?S㥫Zd;O?Y?y/]j<~A@ A)-AYAbDVDkyB<%"=ٔ";Q->9Y=eFyD*<E>Q 54?Q 945)[SBY?Q E:yſQ I?CI:i:^4yBɮAEE%B*** querying acoustic contact ***i! i!jh)5DNOT Ignoring new targets: 72.47 m.Rh5\:Zh=\:M ProNav: ac range: 72.474213 m, nav range: 68.325829 m, bearing: 277.642070 deg, approach rate: -0.563413 m/s, LOS rate: 0.048210 deg/s, cmd heading: 278.296222 deg, new cmd heading: 278.368977 deg. BhMX;UHeadingCmd: 4.858455 target range: 72.474213 and range: 72.80 m.hUwx@hQ*hQ"hQ hQgQfYfYf]BdYdadajdaZde@m @E, EE*E"Ec;*E:VE(N4ZEBEuΪ,aTJ?AF@FZ@FٱF NAHRS rotation from veh to nav: [[0.122250,0.983385,0.134198],[-0.992023,0.116878,0.047231],[0.030761,-0.138901,0.989828]]FH`K?w?@b-??.?? ?iF@IF(5];DYVByV(IbDbVDbfyj'=%jq=ٔn:Q-n?9lYl=neFyrDr;Er?tQ 5z4v(?Q 9z4v:)vlSBY|y~ĿQ I~?vCIvY;ivw;vd4yBɮAFEjh)-DNOT Ignoring new targets: 72.47 m.1Rh=Y:Zh=Y:M ProNav: ac range: 72.474213 m, nav range: 68.134583 m, bearing: 277.658133 deg, approach rate: -0.565256 m/s, LOS rate: 0.047609 deg/s, cmd heading: 278.368977 deg, new cmd heading: 278.417301 deg. BhM;HeadingCmd: 4.859299 target range: 72.474213 and range: 72.80 m.h`@h*h"h hgfffdddjdZd@UKBɢUʽ)Q UT=iQ)]YYi]>ieAe;eӤHIe`@ checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001854I!a@ @@/@@=@=E- E)E&E"Ed;*E0;VE4ZEa@a@a@a@ԉ^AON BDAT read: Rx Time:04:12:25.5292  TRx dataTimestamp_ set to:1761538347.060087 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254733 AA I I O >,mJ?A2XΓ@2$ɚ@2ٱ29 :AHRS rotation from veh to nav: [[0.124284,0.983339,0.132654],[-0.991777,0.118998,0.047086],[0.030516,-0.137416,0.990043]]2H`ѿ?@w??ࣼv????@Ֆ@o?i2XΓ@I2)];0YfByf1IbDrVDr1yv^=%zI=ٔz":Q-z>9|Y|=~eFy~D*;E> Q 5 4 ?Q 94 @) SBYyzĿQ I? 5CI :i : k4y!ɮ%NA!jhIMDNOT Ignoring new targets: 72.47 m.RhUV:ZhUV:e ProNav: ac range: 72.474213 m, nav range: 67.905113 m, bearing: 277.677139 deg, approach rate: -0.564293 m/s, LOS rate: 0.046898 deg/s, cmd heading: 278.417307 deg, new cmd heading: 278.474520 deg. Bhe;mHeadingCmd: 4.860297 target range: 72.474213 and range: 72.80 m.hm@hi*hi"hi higifqfqfqdydydyjdyZd @ԙ颭LBɢJ) =i)vx项ii3!;pB} CB}@IB}BB} =ByB}DB} ;B}.5E^ALME + E CE *E "E b;*E ;VE (N4ZE BE  Vܷ,YJ?A2aߓ@2-ښ@2ecٱ21 :AHRS rotation from veh to nav: [[0.126346,0.983308,0.130928],[-0.991519,0.121132,0.047084],[0.030438,-0.135766,0.990273]]2H,?@Bw?`=?@@?@Y? 1+? ``Q?i2aߓ@I2n=];0YBByF9IIJ8>)J BDAT read: Tx time:04:12:26.6309 $Ping request sent.i}tÿVDuyu<%:=ٔ :9Q- >9 Y = eFyD}~>}V)@}k]>}Us)@ }Gt>)}@I}Gtyy}!?;e??HV}? }Uf ?)}]I}i}Gtyy%:publishing transmit ping time%Fpublishing direction and range infoyy}am?t_4ӋHP?Yyyyyy y)yIyiyyyyy y5$;E5>9Q 5E4=?Q 9E4=PG)=SBYM?Q EM:yMĿQ IM?=UCI=3:i=:=s4)yIyyy}!?;e??HV}? y)yIyiyyyyaɮeAaiyi}J?AJi}BRi}Bji}@b}zQ@nLBm4,0@R}am?t_4ӋHP?Zi}bi}Gtj}e!@biPӇ2@Z}ߎ-g ?`[5'?2i}C:i} A"i}d؞?*i}Y -Bi}Bi}x잊?i}Y -i}Bi}zBi}@  addTargetRange:: Added new target pos. range: 70.599998 m, deltaT: 3.778537 s, deltaX: -2.200005 m, approachRate: -0.582237 m/s, rangeRepo size: 4  Added new target pos. range: 70.278099 m, bearing: 277.476813 deg, lat: 36.779392 deg, lon: -121.859555 deg, deltaT: 3.778537 s, deltaX: -2.196114 m, approachRate: -0.581207 m/s, posRepo size: 4 jh%DNOT Ignoring new targets: 70.28 m.Rh%Zhau ProNav: ac range: 70.278099 m, nav range: 67.739067 m, bearing: 277.680476 deg, approach rate: 0.000000 m/s, LOS rate: 0.046898 deg/s, cmd heading: 278.474517 deg, new cmd heading: 278.537734 deg. Bhq}HeadingCmd: 4.861401 target range: 70.278099 and range: 70.60 m.h}@hy*h"h hgfffBdddjd`fQ@Zd`? C!G S9 Y A5NBɢ}I)y }=i)0顁izi ;0I@IQU9@Q @Y@]/@Yy ^Au *:E 0 E (E +E "E Jg;*E ;VE [4ZE a @a @a @a @ԩA.AIIO->0,K?A2l@28@2N ٱ2 >AHRS rotation from veh to nav: [[0.128773,0.983197,0.129388],[-0.991219,0.123661,0.046827],[0.030040,-0.134282,0.990488]]2H{?@Yv?ˏ? F??`ž?`)0@?i2l@I2B];0YFByFAIbDNVDNyVu<%V4=ٔZIf:Q-~>9 ?Y ?=eFyD ;E >Q 54?Q 94(N)SBYyÿQ I?wCI :i|:{4y)ɮ-A)jhQUDNOT Ignoring new targets: 70.28 m.Rh]O:Zh]O:m ProNav: ac range: 70.278099 m, nav range: 67.479866 m, bearing: 277.700966 deg, approach rate: -0.571889 m/s, LOS rate: 0.045382 deg/s, cmd heading: 278.537737 deg, new cmd heading: 278.599443 deg. Bhm):uHeadingCmd: 4.862478 target range: 70.278099 and range: 70.60 m.huk@hq*hq"hq hqgyfyfyfydddjdZd?颽PBɢ*) |=i)iiٵ;<Ik@IԩA@I @I@M4@I^A8 A A @AB >B B SIB BB B B DB ;A ؟AI I) O] >B +5E) U,hK?A2@2@2Lٱ2 :AHRS rotation from veh to nav: [[0.130778,0.983051,0.128479],[-0.990963,0.125719,0.046762],[0.029817,-0.133433,0.990609]]2HX?`(u?q?@@?@*? Y? W?i2@I2d];0ER; ER)ER*EP"ERDq;*ER0;VER(N4ZEPBER69"?Y"?= eFy D;E>)Q 5=4-?Q 9=4-T)-SBYE?Q EE:yMQ IM?-CI-v;i-go;-G4y]Bɮ]AeOEB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 70.28 m.Rh ":Zh ": ProNav: ac range: 70.278099 m, nav range: 67.236534 m, bearing: 277.716702 deg, approach rate: -0.545713 m/s, LOS rate: 0.035419 deg/s, cmd heading: 278.599455 deg, new cmd heading: 278.646834 deg. Bhv:HeadingCmd: 4.863305 target range: 70.278099 and range: 70.60 m.h1@h*h"h hgfIfQfUBdQdQdYjdYZd](?RBɢ) =i)yici;I1@I T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.@ @@4@A^Am q Ay zA} aAA .AI I O >h,Hk4K?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.248408 :&@:@:fٱ:@h BAHRS rotation from veh to nav: [[0.132734,0.982760,0.128706],[-0.990710,0.127675,0.046826],[0.029586,-0.133726,0.990577]]:Hl?`r?qy?W??`K?Ͳ?i:&@I:`B];8YJByJ8I LLR=R=bDVVDVy^z»%a=ٔ%h!:Q-%>9% ?Y% ?=%eFy-D-;E->1Q 5]45?Q 9]45Z)5SBYYyeLQ Ie?5CI5;i5q;5ɉ4yiɮmAijhDNOT Ignoring new targets: 70.28 m.RhTg,FNK?A2)@2X$@2ٱ2K >AHRS rotation from veh to nav: [[0.135323,0.982491,0.128058],[-0.990374,0.130332,0.046622],[0.029116,-0.133135,0.990670]]2H DR? p?@6d?$ ?ާ?Н? ?i2)@I2.];2CYFByFGIPbDjVDjk1yrr=%rH=ٔv+:Q-v>9v"?Yv"?=zeFyzDz;Ez>|Q 54~?Q 9 4~_)~SBY y Q I ?~CI~ :i~|:~4yɮ|Ajh9EDNOT Ignoring new targets: 70.28 m.RhE# :ZhM# :U ProNav: ac range: 70.278099 m, nav range: 66.809258 m, bearing: 277.743388 deg, approach rate: -0.566595 m/s, LOS rate: 0.035001 deg/s, cmd heading: 278.686253 deg, new cmd heading: 278.727132 deg. Bh]+:eHeadingCmd: 4.864706 target range: 70.278099 and range: 70.60 m.he@ha*ha"ha hagafififidididqjdqZduN?颥VBɢ) =i)_顩i4 id;R˻I@IUchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.755162ByByB}eIB}BB} =ByByB}~;B}5E@ @@@DzDAAEM E=E*E"Eˀ;*E;VE(N4ZEBEQ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004369,K"hK?A2w>@2C9@2ٱ2  :AHRS rotation from veh to nav: [[0.137853,0.982243,0.127264],[-0.990034,0.132919,0.046522],[0.028780,-0.132409,0.990777]]2H)?n?3J?\{?@ѧ?@px?`r?i2w>@I2B];0YBByB?I)iEMb@Mb@Mb@AAAA A9E!rh?QI +?YEl?yEE99qYq=ueFyuDu;E}>Q 54?Q 94e)SBY?Q E:yٽQ I?CI;iI;4yɮAjhDNOT Ignoring new targets: 70.28 m.Rh_9Zh_9 ProNav: ac range: 70.278099 m, nav range: 66.587158 m, bearing: 277.752480 deg, approach rate: -0.527805 m/s, LOS rate: 0.021679 deg/s, cmd heading: 278.727125 deg, new cmd heading: 278.754492 deg. Bh n:HeadingCmd: 4.865184 target range: 70.278099 and range: 70.60 m.h@h*h"h hgfffBdddjd Zd  @MYBɢUs)Y ]6=iY)]#Yaie imm H;m'AqE B E UE )E "E w;*E \;VE FA4ZE a @a @a @a @A ԡ I I O >^y, K?A6wL@6CG@62ٱ6p >AHRS rotation from veh to nav: [[0.139545,0.982035,0.127018],[-0.989803,0.134632,0.046521],[0.028585,-0.132215,0.990809]]6H?@l? #B?@w;?ѧ?YE?k?i6wL@I6M];6CY^BybCIIfJ>)f<bDjVDj:2yr<%rS=ٔv:Q-v>9tYt=veFyzDz;Ez>|Q 54~3?Q 94~j)~SBY y Q I ?~CI~:i~[:~מ4yɮAjh9EDNOT Ignoring new targets: 70.28 m.RhE9ZhE9U ProNav: ac range: 70.278099 m, nav range: 66.382668 m, bearing: 277.760605 deg, approach rate: -0.528542 m/s, LOS rate: 0.021063 deg/s, cmd heading: 278.754500 deg, new cmd heading: 278.778948 deg. BhUJg:]HeadingCmd: 4.865611 target range: 70.278099 and range: 70.60 m.h]@hY*ha"ha hagafafifidididijdqZdu@ychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.508402颭[Bɢ0) z=i)M3项i is@;mI@IQ@Q @Q@U/@Q@Y@Yԡ^AuU checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760328A I I Om > ,EڛK?A2Z@2lU@2Tٱ2& :AHRS rotation from veh to nav: [[0.141258,0.981712,0.127622],[-0.989572,0.136352,0.046432],[0.028181,-0.132850,0.990735]]2H?/j?U?@@s?ŧ? ۜ?=?i2Z@I2d];2CDB%=DBa=EFL EF:EDED"EFW;*EF$ ;VEDZEDYNByN9IB>BBlIBBBBBB~;B4EiMb@Mb@Mb@ 9sh|??y&1:v?Y ?y`弙T<?A@ A)AYpAbD]VD]y%2=ٔpf:Q->9Y=eFyDv;E>Q 54%?Q 94zq) TBY5 ?Q E:yQ I?#CI_;i;ݦ4yBɮAYE B*** querying acoustic contact ***i  i jhDNOT Ignoring new targets: 70.28 m.Rh9Zh%95 ProNav: ac range: 70.278099 m, nav range: 66.135490 m, bearing: 277.769595 deg, approach rate: -0.531730 m/s, LOS rate: 0.019412 deg/s, cmd heading: 278.778952 deg, new cmd heading: 278.806023 deg. Bh5'U:=HeadingCmd: 4.866083 target range: 70.278099 and range: 70.60 m.h=@h9*h9"h9 h9g9fAfAfEBdAdIdIjdIZdU@s@}_Bɢ}<)y }B=iy)߼顁iT icd;g/I@IBDAT read: Rx Time:04:12:29.1267 TRx dataTimestamp_ set to:1761538350.588738checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014003!@! @!@!@)1^AM yb]a Ay I I O >] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2642489,ʵK?A2i@2Md@2^ٱ2' :AHRS rotation from veh to nav: [[0.143057,0.981370,0.128247],[-0.989329,0.138178,0.046211],[0.027629,-0.133489,0.990665]]2H O?bg?fj?ү??J?`. ?i2i@I2K];0YBByB7IbDzVDzy%g=ٔ G:Q- >9 Y =eFyD;E>Q 5%4?Q 9%4{v)TBY)y-ܼQ I-?;CI:i:4y1ɮ5A9jhYeDNOT Ignoring new targets: 70.28 m.Rhe9Zhe9u ProNav: ac range: 70.278099 m, nav range: 65.944565 m, bearing: 277.776280 deg, approach rate: -0.547385 m/s, LOS rate: 0.019221 deg/s, cmd heading: 278.806027 deg, new cmd heading: 278.826140 deg. Bh}S:}HeadingCmd: 4.866434 target range: 70.278099 and range: 70.60 m.h}Թ@h*h"h hgfffdddjdZd @颽aBɢڊ) ԇ=i)G߼i iX0l;IԹ@Ii!>ԉi@q @q@}2@ybE÷G4jEÏB4rEַ/EP EGE'E"E(;*E;VE'4ZEBE MBDAT read: Tx time:04:12:30.2309 M$Ping request sent.Miuȿw>P*@Vh>*@ >)@Iq b?@?{#t? v?)/iIQl$i}:publishing transmit ping timeI}Fpublishing direction and range infoy^A"5AzAhA?yD䣿=9?Y )Ii )Iq b?@?{#t? )IiA I I O > ߵ, K?A2ax@2.s@2T޼ٱ2 >AHRS rotation from veh to nav: [[0.144855,0.981015,0.128944],[-0.989079,0.139985,0.046115],[0.027189,-0.134216,0.990579]]2H@?@yd?>?@?f?כ?-Ҳ?i2ax@I2=];0YFByF.I HHJ=J=bDRVDRN2yV%ZQ=ٔZF:Q-Z>9\Y\=^eFy^DrO;Er>tQ 5z4vl?Q 9z4v|)v"TBYxyzQ Iz?vWCIv:iv:v4y!ɮ%A!ii&K?AJiňBRiňBjiI@b+!P@VAsje]1@R?yD䣿=9?ZiQl$bijZC^"@Z@P!}3@Zh0?l?2i:iA"i;Y?*i}*BiBii*iBiJBi5&@ addTargetRange:: Added new target pos. range: 68.699997 m, deltaT: 3.532001 s, deltaX: -1.900002 m, approachRate: -0.537939 m/s, rangeRepo size: 4  Added new target pos. range: 68.386131 m, bearing: 278.040554 deg, lat: 36.779392 deg, lon: -121.859554 deg, deltaT: 3.532001 s, deltaX: -1.891968 m, approachRate: -0.535665 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 68.39 m.RhZh ProNav: ac range: 68.386131 m, nav range: 65.645828 m, bearing: 277.793644 deg, approach rate: 0.000000 m/s, LOS rate: 0.019221 deg/s, cmd heading: 278.826135 deg, new cmd heading: 278.849894 deg. Bh%HeadingCmd: 4.866849 target range: 68.386131 and range: 68.70 m.h%:@h!*h!"h! h!g)f)f)f)d1dQdQjdU,Q@Zd]Ѭ?颥eBɢ?ļ)  F=i)޼顩iw iJC;xI:@IB>BCBBB =BBBc~;B4EB CB CB“CB =B =CD51U9@Q @Y@]4@YYDzD@AE[ EBE)E"E%;*EZ;VEFA4ZEBEI<2EI<JEs<:Es<^Am ԑ A .AI I O >,zK?A,:~@:y@: ٱ:\ BAHRS rotation from veh to nav: [[0.145637,0.980599,0.131204],[-0.988953,0.140596,0.046948],[0.027590,-0.136592,0.990243]]:H9 ?Y ?=eFyD::E>Q 54?Q 94R)-TBYe?Q E:yJQ I?uCI4o;iX;4yɮpAjh%DNOT Ignoring new targets: 68.39 m.Rh-8Zh-8 ProNav: ac range: 68.386131 m, nav range: 65.406250 m, bearing: 277.796330 deg, approach rate: -0.570213 m/s, LOS rate: 0.006416 deg/s, cmd heading: 278.849904 deg, new cmd heading: 278.857992 deg. Bh9HeadingCmd: 4.866990 target range: 68.386131 and range: 68.70 m.hb@h*h"h hgfffBddidijdiZdmD?ԁhBɢڼ) 0l,pDL?A2@2`@2f߼ٱ2o :AHRS rotation from veh to nav: [[0.146689,0.980417,0.131399],[-0.988806,0.141670,0.046819],[0.027287,-0.136796,0.990223]]2H?_??L<"?@?` ??i2@I2D];2CYB|ByBIbDJVDJNyR<%R[=ٔVU:Q-V>9TYT=VeFyZDZk;;EZ>`\Q 5f4^?Q 9f4^)^6TBYdyf'Q If?^CI^1;i^:^4ylɮnDAljhDNOT Ignoring new targets: 68.39 m.Rh }8Zh }8 ProNav: ac range: 68.386131 m, nav range: 65.200264 m, bearing: 277.798462 deg, approach rate: -0.561767 m/s, LOS rate: 0.005833 deg/s, cmd heading: 278.857991 deg, new cmd heading: 278.864407 deg. Bh9%HeadingCmd: 4.867102 target range: 68.386131 and range: 68.70 m.h%M@h!*h!"h! h!g)f)f)f)d1d1d1jd1Zd5`?kBɢ%RԼ)! %xB >B B YIB BB =B B DB J~;B 4EQ I I OM >,L?AE6B E6GE6&E4"E6w;*E6;VE64ZE4BE6F@Fʊ@F'ٱF"- NAHRS rotation from veh to nav: [[0.147704,0.980069,0.132846],[-0.988648,0.142565,0.047446],[0.027562,-0.138346,0.990000]]FH?\?@? `?? J?9?P@?iF@IFa];FCYZiBy^IIj=)jY?!iMb@Mb@Mb@ 9n?{GzMb?YyףA@ ^A)YbD VD2ym$%m1=ٔmQ-m>9qYq=ueFyuD};E}>Q 54?Q 94i)BTBYq?Q E:ybQ I?CI:i~ ;ʣ4yɮAB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 68.39 m.RhjA9ZhjA9 ProNav: ac range: 68.386131 m, nav range: 64.943466 m, bearing: 277.803323 deg, approach rate: -0.556181 m/s, LOS rate: 0.010569 deg/s, cmd heading: 278.864411 deg, new cmd heading: 278.879050 deg. Bh9HeadingCmd: 4.867358 target range: 68.386131 and range: 68.70 m.he@h*h"h hgfffBdddjdZdO?%oBɢ-h)) -ջi))5޼11i5 i=9=T;=:I=e@IAIT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.@ @@@ygGeu9aYeA^A"9I1 IA OM >ԡ ] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747600S! ,j7L?AYnByIbD-VD-y=Lg<%=_=ٔEQ-E>9AYA=MeFyMDMEM>QQ 5]4U?Q 9]4U)ULTBYayaQ Ie?UCIU:iU:U{У4qyuBɮu7AubEjhDNOT Ignoring new targets: 68.39 m.RhoB9ZhoB9 ProNav: ac range: 68.386131 m, nav range: 64.739426 m, bearing: 277.807212 deg, approach rate: -0.555611 m/s, LOS rate: 0.010624 deg/s, cmd heading: 278.879055 deg, new cmd heading: 278.890760 deg. BhR9HeadingCmd: 4.867562 target range: 68.386131 and range: 68.70 m.hÛ@h*h"h hgfffdddjdZd@/?sBɢ߯) i)^޼iM i )3 ^;i:IÛ@IEu? Eu<Eu+Eq"Eut;*Eu1;VEu [4ZEqa}@a}@a}@a@@ @@/@ԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.000394^Arg:IIIYOm> ,PL?AY~PBy~IbDVDy%%M=ٔ!Q-%>9)Y)=-eFy-D)E->1Q 5=45 ?Q 9E45)5WTBYAyAQ IE?5CI5r;i5;5rף4yIɮMAQjhq}DNOT Ignoring new targets: 68.39 m.Rh}D9ZhD9 ProNav: ac range: 68.386131 m, nav range: 64.517975 m, bearing: 277.811461 deg, approach rate: -0.556598 m/s, LOS rate: 0.010716 deg/s, cmd heading: 278.890749 deg, new cmd heading: 278.903539 deg. BhW9HeadingCmd: 4.867785 target range: 68.386131 and range: 68.70 m.hě@h*h"h hgfffdddjdZd@wBɢ) i)߼i i+;/q:Iě@II)eAB|>BCBFIBBBBBB>~;B4E%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2530579@ @@0@ EC E:EE"Ex;*E$ ;VEZEBE{ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503661q -,jL?A2Ǣ@2@2zٱ2 :AHRS rotation from veh to nav: [[0.149966,0.979007,0.138044],[-0.988273,0.144375,0.049715],[0.028741,-0.143881,0.989178]]2H2?T?p?@ z?;t?Hn?j¿W?i2Ǣ@I2];2CYBDByBIiMb@Mb@Mb@ 91Zd?~jtMb`?Y"?y;VA A)AYGAbDVDy%@=ٔ5Q->9Y=eFy&D;E>Q 54= ?Q 94D)`TBY6?Q E:yQ I?CI:i:ޣ4yɮAjh!%DNOT Ignoring new targets: 68.39 m.Rh-!9Zh-!99 ProNav: ac range: 68.386131 m, nav range: 64.260048 m, bearing: 277.815209 deg, approach rate: -0.605498 m/s, LOS rate: 0.008833 deg/s, cmd heading: 278.903535 deg, new cmd heading: 278.914822 deg. Bh9HeadingCmd: 4.867982 target range: 68.386131 and range: 68.70 m.hƛ@h*h"h hgfffcBdddjdZd`nP@%{Bɢ%`)) - Zi))M߼QQiU i]c%]`;]~;;I]ƛ@IY9@ @@0@a%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755804ԑ^A0::I9 II O] >E 3 E >E E "E j;*E ?;VE ZE a @a @a @a @Թ %%!,̈́L?A:@:@:ٱ:py BAHRS rotation from veh to nav: [[0.150346,0.978749,0.139448],[-0.988201,0.144607,0.050474],[0.029237,-0.145391,0.988942]]:H>?@Q?l?W`w?ש?@;?,¿j?i:@I:4{];:CYJ8ByJIbDVVDVyZ%Z[=ٔ^GQ-^>9`Y`=beFyb-Db:Ef>dQ 5j4f?Q 9j4f+)fiTBYlynQ In?f%CIfr;if;ff4ypɮvAtjh DNOT Ignoring new targets: 68.39 m.Rh9Zh9- ProNav: ac range: 68.386131 m, nav range: 64.034134 m, bearing: 277.818435 deg, approach rate: -0.606038 m/s, LOS rate: 0.008686 deg/s, cmd heading: 278.914818 deg, new cmd heading: 278.924532 deg. Bh-¾95HeadingCmd: 4.868152 target range: 68.386131 and range: 68.70 m.h5Ǜ@h1*h1"h1 h1g1f9f9f9dAdAdAjdAZdM +@eBDAT read: Rx Time:04:12:32.7242 eTRx dataTimestamp_ set to:1761538354.120282mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.008914~Bɢa)  zi ) c߼  i Wz i55y;=7C8;I=Ǜ@I9q@ @@4@ԡ^A;BqAqBz>BB-IBBBBBB};B4E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259653Ae ؟AI I O > D',{L?AY='By=IEUA EU1EU*EQ"EUv;*EUf;VEU(N4ZEQBEU9"?Y"?=eFy8DE> Q 54 f?Q 94 ) uTBY"?Q E:y}Q I? NCI U:i %; E4y-Bɮ-jA-cEEB*** querying acoustic contact ***iA iAjhQUDNOT Ignoring new targets: 68.39 m.Rh]9Zh]9m ProNav: ac range: 68.386131 m, nav range: 63.711815 m, bearing: 277.827256 deg, approach rate: -0.634107 m/s, LOS rate: 0.017441 deg/s, cmd heading: 278.924544 deg, new cmd heading: 278.951140 deg. Bhm?:uHeadingCmd: 4.868616 target range: 68.386131 and range: 68.70 m.hu˛@hq*hq"hq hygyDAT read: 04:12:32.7242 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 413,-0.01,-3.093, 1.532,-2.850,-3.119, PHS= 0.127,-1.587, 0.225, RAW= 152.8, 13.9, CAL= 153.0, 15.6, ROT= 357.0, -15.6 Ygot valid direction response: 04:12:32.7242 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 413,-0.01,-3.093, 1.532,-2.850,-3.119, PHS= 0.127,-1.587, 0.225, RAW= 152.8, 13.9, CAL= 153.0, 15.6, ROT= 357.0, -15.6 PDAT read: Bearing 93.2, -3.1 (Local) ~Local bearing/azimuth received: Bearing 93.2, -3.1 (Local) DAT read: Range 11 to 50 : 66.8 m (Round-trip 89.1 ms) speed 0.5 m/s *DAT read: user:104> BDAT read: Tx time:04:12:33.8309 $Ping request sent.i"˿fff>*@Ulx>*@ 'g>)b@I'g?@?s?lo? [?)7UxIQwVi'g:publishing transmit ping timeFpublishing direction and range infoy!j?-ϩ]^|5?Y )Ii )I?@?s?lo? )IififqfuEBdqddjd@3P@Zd@]?EBɢE)I MiI)M/IIiM8 iUUx;]fz;I]˛@IYmp>im>@ @@0@A ^A ;A A >q A%.AI)I9OM>h.,ToL?AYByIbDEVDEβQym%uR=ٔyQ-}>9 ?Y ?=eFy?DE>Q 54?Q 94 )TBYyQ I?nCIe;in;4E 7 E 8E E "E m;*E  ;VE ZE a@a@a@a@yeBɮeYAelEii:L?AJiBRiBjiTD@b@AWO@)r 1@R!j?-ϩ]^|5?ZiQwVbi'gjS*!@5TCdO6m 4@Z9ڂ?'6qJ?2i"{:iA A"iF?*iWAj(BiBiiii}Bi+@ addTargetRange:: Added new target pos. range: 66.800003 m, deltaT: 3.528020 s, deltaX: -1.899994 m, approachRate: -0.538544 m/s, rangeRepo size: 4  Added new target pos. range: 66.492981 m, bearing: 278.004321 deg, lat: 36.779392 deg, lon: -121.859554 deg, deltaT: 3.528020 s, deltaX: -1.893150 m, approachRate: -0.536604 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 66.49 m.RhZh ProNav: ac range: 66.492981 m, nav range: 63.465336 m, bearing: 277.834061 deg, approach rate: 0.000000 m/s, LOS rate: 0.017441 deg/s, cmd heading: 278.951128 deg, new cmd heading: 278.972790 deg. BhHeadingCmd: 4.868994 target range: 66.492981 and range: 66.80 m.hΛ@h*h"h hgfffdddjdZd`?-Bɢ-)) -սi))5U11i5 i=<=n;=;I=Λ@IAԉ@ @@4@ԩ^A] ] ; A I I O >K5,5L?AB&t>B&CB&IB&vBB$B$B&DB&};B&i4EJ @J؛@JcٱJ VAHRS rotation from veh to nav: [[0.149745,0.978661,0.140712],[-0.988224,0.143619,0.052785],[0.031449,-0.146959,0.988642]]JH`*?@0Q?@?b??`?¿?iJ @IJ^;HYZBy^IbDfVDfNyn|J%nU=ٔrCQ-r>9pYp=reFyvGDv̺Ev>xQ 5~4=;?z?Q 94za)zTBY y Q I ?zCIzV;izX;z4yɮlAjh9EDNOT Ignoring new targets: 66.49 m.RhE9ZhE9U ProNav: ac range: 66.492981 m, nav range: 63.223587 m, bearing: 277.840917 deg, approach rate: -0.679444 m/s, LOS rate: 0.019342 deg/s, cmd heading: 278.972793 deg, new cmd heading: 278.993439 deg. BhUdT:eHeadingCmd: 4.869354 target range: 66.492981 and range: 66.80 m.heћ@ha*ha"ha hagifififidqdqdqjdqZd}`%?Bɢ) i)iٻ iuk}|;қ:Iћ@IE 5 E 6E 'E "E k;*E  ;VE '4ZE BE hr;,L?A2e@22@2ٱ2Z :AHRS rotation from veh to nav: [[0.149179,0.978731,0.140826],[-0.988277,0.142902,0.053734],[0.032467,-0.147191,0.988575]]2H`K?Q?@? @J??`w?`+¿h?i2e@I22^;2CYBByBIi Mb@Mb@Mb@     9 S㥛?Zd;O{Gz?Y $&?y j #< VA  tA) 1A Y AbD%VD%y5>o<%5E=ٔ5!Q-5>9="?Y="?==eFy=PDEEE>IQ 5U4Mc?Q 9U4Mf)MTBYUD&?Q EU:yUQ I]?MCIM:iM:M4yaɮeSAajh  DNOT Ignoring new targets: 66.49 m.RhO9ZhO9E ProNav: ac range: 66.492981 m, nav range: 62.954910 m, bearing: 277.845768 deg, approach rate: -0.626337 m/s, LOS rate: 0.011357 deg/s, cmd heading: 278.993447 deg, new cmd heading: 279.008063 deg. BhEi9MHeadingCmd: 4.869609 target range: 66.492981 and range: 66.80 m.hMӛ@hI*hI"hI hIgIfQfQfUZBdQYdYdajdaZdmG?Bɢ) 6޽i1)=99i= iE𴿉E ;E):IEӛ@III@I @I@M/@IԉbEAjEE#E4rEEȓ/E E7E)E"EI;*E ;VEFA4ZEa@a@a@a @Ա^A q:A I I O >}NB, M?A4<ɰ2@2ɒ@2n ٱ2 :AHRS rotation from veh to nav: [[0.148642,0.978619,0.142163],[-0.988322,0.142136,0.054928],[0.033547,-0.148668,0.988318]]2H?P?i2?`U 1?{? -?ÿ M?i2@I2<^;2CYNByRIbDZVDZyv<%vQ=ٔv4Q-v>9xYx=zeFyzWDzDE~>Q 5 4?Q 9 4)TBY y &Q I ?CI:i: 4yɮ[AjhAEDNOT Ignoring new targets: 66.49 m.RhMg9ZhMg9 ProNav: ac range: 66.492981 m, nav range: 62.701000 m, bearing: 277.850509 deg, approach rate: -0.676134 m/s, LOS rate: 0.012676 deg/s, cmd heading: 279.008064 deg, new cmd heading: 279.022344 deg. Bh/ :HeadingCmd: 4.869859 target range: 66.492981 and range: 66.80 m.h՛@h*h"h hgfffdddjdZd`?]Bɢe^)a eia)ek{iiimy im紿9;׸I՛@II@Q @Q@Y@YAYA]AABep>BaBeIBebBBe =BaBaBe@};Be74EB-CB-CB)B- =B- =C-ƽ5^Arg:1 A I I O% >E= < E= 'E9 E9 "E= ,r;*E= ";VE9 ZE9 BE= 9iYi=ueFyu`Du E}>yQ 54} ?Q 94}D)}TBY(?Q E:y(Q I?}CI}#;i}I;}$4yBɮAvEjhDNOT Ignoring new targets: 66.49 m.Rh9Zh9 ProNav: ac range: 66.492981 m, nav range: 62.425056 m, bearing: 277.861663 deg, approach rate: -0.655796 m/s, LOS rate: 0.026626 deg/s, cmd heading: 279.022353 deg, new cmd heading: 279.055964 deg. Bh/:HeadingCmd: 4.870445 target range: 66.492981 and range: 66.80 m.hڛ@h*h"h hgfffuBdddjdZd?%Bɢ%)! -ǽi))-&))i-x iԴ4-; 4Iڛ@I)a@i @i@m0@iY^Am"ԉ A I I O >jN,a=M?A0:@:@:ٱ:Ş RAHRS rotation from veh to nav: [[0.147754,0.978687,0.142619],[-0.988385,0.140932,0.056858],[0.035547,-0.149363,0.988143]]:H?hQ?SA?ڠ ??:3? Uÿޞ?i:@I:^;:CY^.By` hjp;bDrVDry~;%~R=ٔxQ->9 Y =eFyhDE8 E.E*E"En;*E;VE(N4ZEa@a@a@a@VE>Q 54%?Q 94Y)TBYy2Q I?CI:i:V4yɮAB*** querying acoustic contact ***i ijh!%DNOT Ignoring new targets: 66.49 m.Rh- 9Zh- 9] ProNav: ac range: 66.492981 m, nav range: 62.154911 m, bearing: 277.872757 deg, approach rate: -0.649299 m/s, LOS rate: 0.026779 deg/s, cmd heading: 279.055957 deg, new cmd heading: 279.089382 deg. Bh]:eHeadingCmd: 4.871028 target range: 66.492981 and range: 66.80 m.hewߛ@ha*ha"ha higifififqdddjdZde@Bɢ )  pʽi ) \ IiM iUU;](I]wߛ@IYԑ@ @@0@@@fAT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Թ^AqAA> A I I O >B] m>B] CBY BY B] =BY BY B] |;B] 4ECU,WM?AFr@F?@Fh&ٱFT"P RAHRS rotation from veh to nav: [[0.147476,0.978673,0.143000],[-0.988395,0.140506,0.057729],[0.036406,-0.149854,0.988038]]FH }?KQ?M?` ? ??n.ÿ?iFr@IF^;FCYZ7ByZIbDdVDdyn<%nJ=ٔrg Q-r>9pYp=veFyvpDv'4Ev>xQ 5~4z!?Q 9~4z)zTBYy;Q I?z6CIz;iz;z4y ɮ A %checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768378jhAEDNOT Ignoring new targets: 66.49 m.RhM9ZhM9] ProNav: ac range: 66.492981 m, nav range: 61.904400 m, bearing: 277.883191 deg, approach rate: -0.660849 m/s, LOS rate: 0.027637 deg/s, cmd heading: 279.089371 deg, new cmd heading: 279.120800 deg. Bh]:eHeadingCmd: 4.871577 target range: 66.492981 and range: 66.80 m.he@ha*ha"ha hagifififidqdqdqjdqZdu T@ Bɢ $) ֽi)5b11i5$ i==;E ~!IE@IA9@ @@ 4@ Em: Em7Em)Ei"Em\p;*Em ;VEmFA4ZEiBEmm[,[qM?A|YYBy IiMb@Mb@Mb@ 9MbX9?S㥛~jt?Y!?y/ݼ<lA GA)YAbDVD3y?=%>=ٔQ->9Y=eFyyDE>Q 54#?Q 94)TBY"?Q E:yʺQ I?YCI!;i ;&4yɮ%AjhDNOT Ignoring new targets: 66.49 m.Rh9Zh9 ProNav: ac range: 66.492981 m, nav range: 61.632515 m, bearing: 277.889784 deg, approach rate: -0.610296 m/s, LOS rate: 0.014863 deg/s, cmd heading: 279.120789 deg, new cmd heading: 279.140654 deg. Bh5#:HeadingCmd: 4.871923 target range: 66.492981 and range: 66.80 m.h@h*h"h hgfffnBdddjdZd @颥Bɢ<) Py5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2724241i9)=99i=G iE9E_;eSi0Ie@Ii9@ @@@QE}! E}*E}.Ey"E}Y;*E};VE}ـ4ZEya@a@a@a@^A ԁ A1 I I O >b,-M?A2DAT read: 04:12:36.3209 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 412,-0.12, 0.169,-1.492, 0.425, 0.118, PHS= 0.153,-1.565, 0.263, RAW= 153.1, 12.9, CAL= 153.2, 14.4, ROT= 356.8, -14.4 6Ygot valid direction response: 04:12:36.3209 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 412,-0.12, 0.169,-1.492, 0.425, 0.118, PHS= 0.153,-1.565, 0.263, RAW= 153.1, 12.9, CAL= 153.2, 14.4, ROT= 356.8, -14.4 :PDAT read: Bearing 92.7, -3.1 (Local) :~Local bearing/azimuth received: Bearing 92.7, -3.1 (Local) NDAT read: Range 11 to 50 : 64.4 m (Round-trip 85.9 ms) speed 0.5 m/s R*DAT read: user:105> VBDAT read: Tx time:04:12:37.4309 V$Ping request sent.ViQȿ>+@f>D +@ >)SF@I#?!WO ?W5? k?)QfIdi|YjdBy~I  AAbD VD :publishing transmit ping timeTFpublishing direction and range infoy\B?U!ήl?Y )Ii )I#?!WO ?W5? )IiyB<%@=ٔL`Q->9Y=eFyD 9E >1Q 5=453&?Q 9E45!)5UBYAyEƺQ IE?5{CI5:i5:5.4yiɮuAqiiPM?AJi4BRi4Bjim@bHN@# /@R\B?U!ήl?Zidbijs @agNEН2@Z4b`?*Ju[y8?2i>s:i{A"ifʞ?*i8+BiBid؞?i8+iBipuBi9@ addTargetRange:: Added new target pos. range: 64.400002 m, deltaT: 3.537695 s, deltaX: -2.400002 m, approachRate: -0.678408 m/s, rangeRepo size: 4  Added new target pos. range: 64.102165 m, bearing: 277.522414 deg, lat: 36.779390 deg, lon: -121.859555 deg, deltaT: 3.537695 s, deltaX: -2.390816 m, approachRate: -0.675812 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 64.10 m.RhZh ProNav: ac range: 64.102165 m, nav range: 61.360050 m, bearing: 277.667883 deg, approach rate: 0.000000 m/s, LOS rate: 0.014863 deg/s, cmd heading: 279.140652 deg, new cmd heading: 279.160129 deg. BhHeadingCmd: 4.872263 target range: 64.102165 and range: 64.40 m.h@h*h"h hgff f d d djdP@Zd6o?!]Bɢ]v) Wi)7顉i; i;^=I@IB}<AyBj>BB!IBBB =BBDB|;B3E1@1 @1@54@1@==@==YEE 1 EE -EE (EA "EE 2h;*EE K;VEE c44ZEA BEE `i,M?A2e@22@2uٱ2 NAHRS rotation from veh to nav: [[0.147941,0.978680,0.142476],[-0.988249,0.140689,0.059752],[0.038433,-0.149642,0.987993]]2H? XQ?Q-e>9m ?Ym ?=meFyuDuc:E}>Q 54(?Q 94*)&UBY ?Q E:yQ I?CIY;iX;54yBɮcAEjhDNOT Ignoring new targets: 64.10 m.Rh9Zh9 ProNav: ac range: 64.102165 m, nav range: 61.091351 m, bearing: 277.675931 deg, approach rate: -0.644936 m/s, LOS rate: 0.019402 deg/s, cmd heading: 279.160131 deg, new cmd heading: 279.184381 deg. Bh U:HeadingCmd: 4.872687 target range: 64.102165 and range: 64.40 m.h @h*h"h hgfffBdddjdZdQ?MBɢM)I MiI)U`mQQiU i]7];]?I] @Iu9@q @q@uD4@q)a ^A 7E 3 E %E E "E j;*E ;VE ZE a @a @a @a @A ؟AI I O >Bp,M?A 2@2t@2b ٱ2,% >AHRS rotation from veh to nav: [[0.148209,0.978626,0.142565],[-0.988181,0.140840,0.060519],[0.039147,-0.149850,0.987934]]2H?P???- ?`\? ?E.ÿ&?i2@I2^;2CYFByF5IbDNVDN:yV=%VX=ٔVQ-Z>9Z"?YZ"?=ZfFyZD^>:E^>`Q 5f4b*?Q 9f4bX)b:UBYdyjQ Ij?bCIb:ib:b0<4ylɮnAl~B*** querying acoustic contact ***i| i|jh DNOT Ignoring new targets: 64.10 m.Rh 9Zh 9 ProNav: ac range: 64.102165 m, nav range: 60.855289 m, bearing: 277.682997 deg, approach rate: -0.638685 m/s, LOS rate: 0.019193 deg/s, cmd heading: 279.184392 deg, new cmd heading: 279.205673 deg. BhR:HeadingCmd: 4.873058 target range: 64.102165 and range: 64.40 m.h@h*h"h hgff1f9d9d9d9jdAZdE?Bɢx) ?;i)hi@ i |;JFI@IIqiIT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.9@ @@ /@ ԙ^A- *: B \>B CB :IB BB =B B DB |;B 3EA] .AIa Iy  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.210376O >Jv,xM?APZΛ@Z@Z!ٱZ;- =AHRS rotation from veh to nav: [[0.149070,0.978507,0.142489],[-0.988037,0.141639,0.061002],[0.039509,-0.149878,0.987915]]ZH ?O?=?8!?`;?x:?2/ÿ?iZΛ@IZ`^;ZCYByAI p<<bDVDDyzD}AAE& E&E)E"E8^;*E;VEFA4ZEBE9 ?Y ?=fFyD:E>Q 54-?Q 94#)TUBYy߻Q I ?CI:ig:D4yɮAjhY]DNOT Ignoring new targets: 64.10 m.Rhex9Zhex9 ProNav: ac range: 64.102165 m, nav range: 60.557560 m, bearing: 277.691742 deg, approach rate: -0.620057 m/s, LOS rate: 0.018302 deg/s, cmd heading: 279.205675 deg, new cmd heading: 279.232038 deg. BhH:HeadingCmd: 4.873518 target range: 64.102165 and range: 64.40 m.h@h*h"h hgfffddd jd Zd  ְ?UBɢ]!ܼ)Y ]XA >I I O >/},nNM?AHYvByvWIiMb@Mb@Mb@ 9 +?Q{Gz?Y?yף<Aj@ pA)AYAbDVDk1y=%W=ٔQ->checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7143699Y=fFyDE>Q 54/?Q 94)gUBY?Q E:yQ I?CI ;iG ;0K4yɮAjh)-DNOT Ignoring new targets: 64.10 m.Rh59Zh59E ProNav: ac range: 64.102165 m, nav range: 60.333012 m, bearing: 277.698106 deg, approach rate: -0.594172 m/s, LOS rate: 0.016903 deg/s, cmd heading: 279.232040 deg, new cmd heading: 279.251204 deg. BhE9:MHeadingCmd: 4.873853 target range: 64.102165 and range: 64.40 m.hM@hI*hI"hI hIgQfQfQfU$BdYdYdYjdYZd]{?uBɢu8ZǼ)y }T=iy);顁i ie5;kFI@IE-/ E-E-*E)"E-af;*E-:VE-(N4ZE)a5@a5@a=@a=@@ @@@ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.966911^A ) I I O >\,+N?A2s@2@@2%ٱ28 :AHRS rotation from veh to nav: [[0.151312,0.978058,0.143200],[-0.987657,0.143658,0.062419],[0.040477,-0.150878,0.987723]]2H`4^? AL?dT?fc?R?g?Oÿ@n?i2s@I2_;2CYBByB`IbDJVDJ1yV(=%V_=ٔZ,Q-Z>9XYX=ZfFy^D^ ;E^>`Q 5f4b1?Q 9f4b )byUBYhyjfQ Ij?bCIb-:ib:bQ4ynBɮrAvEjh15DNOT Ignoring new targets: 64.10 m.Rh=9Zh=9M ProNav: ac range: 64.102165 m, nav range: 60.117996 m, bearing: 277.703770 deg, approach rate: -0.578739 m/s, LOS rate: 0.015300 deg/s, cmd heading: 279.251191 deg, new cmd heading: 279.268244 deg. BhM(:UHeadingCmd: 4.874150 target range: 64.102165 and range: 64.40 m.hU @hQ*hQ"hQ hQgYfYfafadadadajdiZdm 6@5Bɢ5)1 5B=i9)=99i=0 iEC[E;EIE @IIAQAQB]U>B]CB]_IB]BB] =B]@DB]DB]]|;B]3E@ @@0@)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.218282Y^A"5D1D5<EM. EM!EM+EI"EMye;*EM:VEM [4ZEIBEMԁ h=,*N?A&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.47035365@6@6&ٱ6 BAHRS rotation from veh to nav: [[0.152608,0.977833,0.143362],[-0.987447,0.144886,0.062903],[0.040737,-0.151162,0.987669]]6H?`iJ?Y? *`?c?ۤ?@EYÿ?i65@I6/_;6CYJByNgIYiMb@Mb@Mb@ 9Q?l/$?Y\?y<Ar@ tA)AYA@AbDVDy<%6=ٔQ->9Y=fFyD%J?;E%>)Q 554-3?Q 954-:)-UBY5?Q E=:y=Q I=?-;CI- ;i- ;-oY4yEBɮEwAEEjhimDNOT Ignoring new targets: 64.10 m.Rhu9Zhu9 ProNav: ac range: 64.102165 m, nav range: 59.866661 m, bearing: 277.713601 deg, approach rate: -0.566205 m/s, LOS rate: 0.022239 deg/s, cmd heading: 279.268240 deg, new cmd heading: 279.297855 deg. Bh2t:HeadingCmd: 4.874667 target range: 64.102165 and range: 64.40 m.hF@h*h"h hgfffBdddjdZd@@ Bɢ [)A EH=iA)E} AIiMimRJu5=;u:IuF@Iqԉ!@! @!@%O0@)Աchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.722261^AM vтA] eAzA] eAI I O > bEjEʔK4rE/EU $ EU EU *EQ "EU g\;*EU :VEU (N4ZEQ ae @ae @ae @ae @H%,DN?A;ɰp;YBypIbDVD0y%3=%%[=ٔ-Q-->9)Y)=5fFy5D5E5>9Q 5E4=4?Q 9E4=)=UBYIyIQ IM?=UCI=6:i=N:=_4yQɮU=AQuB*** querying acoustic contact ***iq iqjhDNOT Ignoring new targets: 64.10 m.Rh49Zh49 ProNav: ac range: 64.102165 m, nav range: 59.657703 m, bearing: 277.721837 deg, approach rate: -0.558677 m/s, LOS rate: 0.022098 deg/s, cmd heading: 279.297855 deg, new cmd heading: 279.322650 deg. Bhr:HeadingCmd: 4.875100 target range: 64.102165 and range: 64.40 m.h@h*h"h hgfffdddjdԹZd]@Bɢ) =i)!ii%<;ߟI@Iechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.975886m9@i @i@u4@q^AهII O>BU O>BU CBU ~IBU BBU =BQ BU DBU 3|;BU 3EBCBCBɔCB =B =Cl6 > %= BDAT read: Rx Time:04:12:39.9178  TRx dataTimestamp_ set to:1761538361.436395 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2276219 S,^N?AE 3 E )E &E "E j;*E 0;VE 4ZE BE 99Y9==fFy=DE<EE>IQ 5U4MC7?Q 9U4M)MUBYU ?Q EU:yUwQ I]?MxCIM':iMQ:Mh4yaɮeAajhDNOT Ignoring new targets: 64.10 m.RhF9ZhF9% ProNav: ac range: 64.102165 m, nav range: 59.384865 m, bearing: 277.727299 deg, approach rate: -0.540555 m/s, LOS rate: 0.010873 deg/s, cmd heading: 279.322662 deg, new cmd heading: 279.339126 deg. Bh%9-HeadingCmd: 4.875388 target range: 64.102165 and range: 64.40 m.h--@h)*h)"h) h)g1f1f1f5$BYdydydyjdyZdS @BɢT᲼) 2=i)   i i2echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.478813u;oB;I-@IU9@Q @Q@]0@YԑԱ ^A EDAT read: 04:12:39.9178 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 412, 0.25,-1.768, 2.857,-1.494,-1.842, PHS= 0.176,-1.539, 0.304, RAW= 153.6, 11.9, CAL= 153.6, 13.2, ROT= 356.4, -13.2 MYgot valid direction response: 04:12:39.9178 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 412, 0.25,-1.768, 2.857,-1.494,-1.842, PHS= 0.176,-1.539, 0.304, RAW= 153.6, 11.9, CAL= 153.6, 13.2, ROT= 356.4, -13.2 UPDAT read: Bearing 92.4, -3.2 (Local) U~Local bearing/azimuth received: Bearing 92.4, -3.2 (Local) eDAT read: Range 11 to 50 : 62.1 m (Round-trip 82.8 ms) speed 0.4 m/s m*DAT read: user:106> mBDAT read: Tx time:04:12:41.0309 u$Ping request sent.ui Ŀ 㥛> +@ ȭT> +@ k>) " @I k    n:?ZՋP?,P? ?) TI )i k  :publishing transmit ping timeqFpublishing direction and range infoy  Q?IL :?Y      ) I i      ) I     n:?ZՋP?,P? ) I i   A؟AIAIaO?u?,IN?A88fR@f@fb(ٱf$ AHRS rotation from veh to nav: [[0.159124,0.976779,0.143465],[-0.986397,0.151228,0.064426],[0.041234,-0.151765,0.987556]]fH*^?A? ]?`p[?9~??mÿ?ifR@Ifv_;fCY ByIbDEVDEyU=%U@=E E%E)E"EV;*E;VEFA4ZEa@a@a@a@ٔ(Q->9"?Y"?=fFyDu~;E>Q 549?Q 94 &)UBYy?Q I?CIB:i:|p4yɮA1ii&|N?AJiB CB IB %BB B B B |;B 3EA5 .AI9 IQ O] >,,\N?AN@N@N)ٱN/ VAHRS rotation from veh to nav: [[0.160536,0.976594,0.143149],[-0.986162,0.152619,0.064745],[0.041382,-0.151562,0.987581]]NH`u?B@?`R??`?`0?`fÿC?iN@IN,_;NCY^By^IIb=)b4<bDjVDjyrX5%rQ=ٔrƹQ-r>9v ?Yv ?=vfFyvDzz;Ez>|Q 54~;?Q 94~[+)~UBYyQ I ?~CI~:i~9:~ w4yɮAjh9=DNOT Ignoring new targets: 61.81 m.RhE59ZhE59] ProNav: ac range: 61.808804 m, nav range: 58.944031 m, bearing: 277.735209 deg, approach rate: -0.571093 m/s, LOS rate: 0.009896 deg/s, cmd heading: 279.354163 deg, new cmd heading: 279.364713 deg. Bh]V9eHeadingCmd: 4.875834 target range: 61.808804 and range: 62.10 m.he@ha*ha"hi higififqfqdqdqdyjdyZd}g?颥Bɢܠ) n=i)N顩i i$+;,;I@Iԉa@a @i@m/@iE* EE(E"Ea;*EVEc44ZEBE P,YN?AYvByvIiuMb@Mb@Mb@qqqq q9uL7A`?I +?Yu+?yu̼u949"?Y"?=fFyDE>Q 54=?Q 9491)UBYY?Q E:yQ I?CI ;ii ;}~4yBɮ+AEjhDNOT Ignoring new targets: 61.81 m.Rh#9Zh#9  ProNav: ac range: 61.808804 m, nav range: 58.719387 m, bearing: 277.739007 deg, approach rate: -0.527297 m/s, LOS rate: 0.008949 deg/s, cmd heading: 279.364709 deg, new cmd heading: 279.376146 deg. Bh 9HeadingCmd: 4.876034 target range: 61.808804 and range: 62.10 m.hx@h*h"h hgfff%FBd!d!d!jd!Zd- ?UBɢU)Y ]>iY)]nYYi]Iiee ;m;Imx@Ii@ @@@E E1E2E"E*Ef;VE4ZEa@a@a@a@^Aϩ;AfAzAdAI I I O >8,4N?Aɰ4<6@6@6(h*ٱ6v >AHRS rotation from veh to nav: [[0.163502,0.976267,0.142023],[-0.985666,0.155586,0.065236],[0.041591,-0.150654,0.987711]]6H?=?-? @?T?`rK?HÿT?i6@I6n_;6CYF&ByFIbDNVDNyV==%V[=ٔZQ-Z>9XYX=^fFy^Db<Eb>dQ 5j4f??Q 9j4fa6)fUBYhyjQ Ij?fCIf:ifN:f4ypɮrAp~B*** querying acoustic contact ***i ijh  DNOT Ignoring new targets: 61.81 m.Rh{9Zh{9% ProNav: ac range: 61.808804 m, nav range: 58.522003 m, bearing: 277.741792 deg, approach rate: -0.526890 m/s, LOS rate: 0.007458 deg/s, cmd heading: 279.376157 deg, new cmd heading: 279.384538 deg. Bh%ƣ9-HeadingCmd: 4.876180 target range: 61.808804 and range: 62.10 m.h- @h)*h1"h1 h1g1f1f9f9d9d9dAjdAZdE?mBɢmp)q u>iq)uqqi%ziW;h1;I @IQ@ @@@BmK>BiBmIBm?BBm =BiBiBm{;Bmd3EyT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.^Ayb];ԩ I I O5 >E % E E +E "E O];*E :VE [4ZE BE 9Y=fFyDx8;E>Q 54A?Q 94O<)VBY?Q E:y_Q I?CI:i:4yɮAjh DNOT Ignoring new targets: 61.81 m.Rh ?9Zh ?9 ProNav: ac range: 61.808804 m, nav range: 58.294998 m, bearing: 277.746336 deg, approach rate: -0.520948 m/s, LOS rate: 0.010469 deg/s, cmd heading: 279.384544 deg, new cmd heading: 279.398230 deg. Bh9%HeadingCmd: 4.876419 target range: 61.808804 and range: 62.10 m.h% @h!*h)"h) h)g)f)f1f5=Bd1d9d9jd9Zd= ?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755715Bɢ=)! %>i!)%߼))i-)i==*;=c;I= @IAԩ@ @@@^A 0;Iq I O >  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006910J,8O?A2&(@2"@2*ٱ2 :AHRS rotation from veh to nav: [[0.165960,0.975917,0.141578],[-0.985253,0.158032,0.065593],[0.041640,-0.150376,0.987752]]2H*>?`:?`;?`1b:?ʰ? Q? ?ÿ@?i2&(@I2-^;2CYV&ByZI bl9pYp=rfFyrDv[;Ev>xQ 5~4zC?Q 9~4zqA)zVBY|y6Q I?zCIzQ;iz;z=4y ɮ A jh1=DNOT Ignoring new targets: 61.81 m.Rh=49ZhE49M ProNav: ac range: 61.808804 m, nav range: 58.098648 m, bearing: 277.750051 deg, approach rate: -0.520158 m/s, LOS rate: 0.009875 deg/s, cmd heading: 279.398232 deg, new cmd heading: 279.409415 deg. BhU9UHeadingCmd: 4.876614 target range: 61.808804 and range: 62.10 m.hU9 @Ee- EeEe*Ea"Eed;*Ee:VEe(N4ZEaam@am@am@am@hY*hq"hq hqgqfqfyfydydydjdZd@颭Bɢ(4) >i)@޼项ii J; A}>IIO>PExceeded connect timeout, disconnecting.a Aa Aa Bm B>Bm CBm IBm IBBm =Bi Bm DBm {;Bm :3Et,O?AYr'ByvIbD~VD~Ny ;% G=ٔ Q- >9Y=fFyDE>!Q 5-4%E?Q 9-4%G)%VBY)y)Q I-?%8CI%:i%:%h4Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.510993Qy9ɮeAajhDNOT Ignoring new targets: 61.81 m.Rh29Zh29 ProNav: ac range: 61.808804 m, nav range: 57.885109 m, bearing: 277.754120 deg, approach rate: -0.508866 m/s, LOS rate: 0.009732 deg/s, cmd heading: 279.409406 deg, new cmd heading: 279.421658 deg. Bh9HeadingCmd: 4.876828 target range: 61.808804 and range: 62.10 m.h@h*h"h hgfffddd jd Zd`f@]Bɢ])Y ]Q>ia)e5ݼaaieOimmtm;mD ,p4O?A2>4@2 /@22R*ٱ2 :AHRS rotation from veh to nav: [[0.167415,0.975564,0.142292],[-0.985010,0.159429,0.065865],[0.041570,-0.151186,0.987631]]2Hm?@7?@6?@3@(h?@ܰ?@H?Zÿ?i2>4@I2N^;2CYBByBIIF;>)DHJAi Mb@Mb@Mb@     9 L7A`?:v{Gzt?Y +?y T ף;  A S@ A) A Y AbD-VD-k1y5m%5G=ٔ=s19Q-=>9AYA=EfFyEDEk;EM>IQ 5U4MH?Q 9]4ML)M*VBYe7?Q Ee:yerQ Ie?MTCIMO+;iMd*;M4yiɮmAiԹjhDNOT Ignoring new targets: 61.81 m.Rh-Zh-- ProNav: ac range: 61.808804 m, nav range: 57.669010 m, bearing: 277.751953 deg, approach rate: -0.518948 m/s, LOS rate: -0.005223 deg/s, cmd heading: 279.421646 deg, new cmd heading: 279.415121 deg. Bh-ie5HeadingCmd: 4.876714 target range: 61.808804 and range: 62.10 m.h5 @hQ*hQ"hQ hQgYfYfYf]9BdadadajdaZdeK@BɢW) H=i)#ݼi\iD; checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266830,*NO?A23@2u.@2վ)ٱ2kH :AHRS rotation from veh to nav: [[0.167345,0.975329,0.143975],[-0.985027,0.159268,0.065988],[0.041430,-0.152862,0.987379]]2Hk?5? m?`Xb??L6?@ÿ`?i23@I2^;2CYB ByBIHJBAbDN VDN2yVZ;%VT=ٔV9Q-V>9XYX=ZfFyZD^oBE^>`Q 5f4bK?Q 9f4bQ)b5VBYdyftQ If?bnCIb:ib:bP4ynBɮnAnEzB*** querying acoustic contact ***ix ixjh DNOT Ignoring new targets: 61.81 m.Rh :˸Zh :˸ ProNav: ac range: 61.808804 m, nav range: 57.465454 m, bearing: 277.749907 deg, approach rate: -0.550443 m/s, LOS rate: -0.005552 deg/s, cmd heading: 279.415116 deg, new cmd heading: 279.408956 deg. BhsHeadingCmd: 4.876606 target range: 61.808804 and range: 62.10 m.h) @h*h"h hgfffdddjdZd@H @-Bɢ-T)) 5=i1UnManaging dock network, ignoring radio surface power off)uyܼqqiu؟i} }|;G9@ @@p4@AzAhABC>BBIBSBB =BBB{;B2EAIIOg>DAT read: 04:12:43.5154 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 419,-0.32,-1.902, 2.741,-1.615,-1.985, PHS= 0.186,-1.512, 0.326, RAW= 153.9, 11.3, CAL= 153.9, 12.4, ROT= 356.1, -12.4 Ygot valid direction response: 04:12:43.5154 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 419,-0.32,-1.902, 2.741,-1.615,-1.985, PHS= 0.186,-1.512, 0.326, RAW= 153.9, 11.3, CAL= 153.9, 12.4, ROT= 356.1, -12.4 PDAT read: Bearing 92.4, -3.4 (Local) ~Local bearing/azimuth received: Bearing 92.4, -3.4 (Local) DAT read: Range 11 to 50 : 60.2 m (Round-trip 80.3 ms) speed 0.4 m/s *DAT read: user:107> BDAT read: Tx time:04:12:44.6309 $Ping request sent.>i]7]y>]o+@]I>]o+@ ]k]>)]>@I]k]YY]_@ ?dl?+K ? ]ɑ?)]LII])gi]k]YY5:publishing transmit ping time=Fpublishing direction and range infoyY]M_.?Sjwh`r|?YYYYYY Y)YIYiYYYYYԑ Y)YIYYY]_@ ?dl?+K ? Y)YIYiYYYD zD E + E E 'E "E b;*E 4:VE '4ZE BE 9 Y = fFy Du:Eu>Q 54N?Q 94ԑ\X)DVBY ?Q E:yQ I?CIK  ,kO?A2B:@25@2(ٱ2 :AHRS rotation from veh to nav: [[0.168142,0.974806,0.146564],[-0.984909,0.159944,0.066116],[0.041008,-0.155469,0.986989]]2Hઅ?1?`?` y?@??`lÿ@j?i2B:@I2];2CYRByRI TTbDZVDZyv2z<%v^=ٔvm:Q-v>9xYx=zfFyz Dz9E~>Q 5 4lP?Q 9 4K])OVBY y Q I ?CI[:i:4yBɮ AEbEFA4jEG4rE0E% EE)E"EO];*E:VEFA4ZEa@a@a@a@jhDNOT Ignoring new targets: 59.92 m.Rh-Zh- ProNav: ac range: 59.916206 m, nav range: 57.040058 m, bearing: 277.824059 deg, approach rate: -0.544296 m/s, LOS rate: -0.004595 deg/s, cmd heading: 279.400909 deg, new cmd heading: 279.396110 deg. BhIHeadingCmd: 4.876382 target range: 59.916206 and range: 60.20 m.hR @h*h"h hg f f f ddd1jd1Zd=t?颅Bɢ) =i)=ۼ顉iPi%Db;.+I B A B =>B B B B =B B B z;B 2EBCBCBB =B =C#5,ZO?A>=@>8@>z]'ٱ>" zAHRS rotation from veh to nav: [[0.168585,0.974352,0.149054],[-0.984840,0.160237,0.066437],[0.040849,-0.157994,0.986595]]>H 3?-?1?σ`?`?1?)9Ŀ/?i>=@I>P];>CYByI ;bDVD0y3%9=ٔ9Q->9!Y!=%fFy%)D%:E->)Q 5E4-OS?Q 9E4-rc)-\VBYAyErQ IE?-CI-L;i-M;-N4yIɮU,AQjhy}DNOT Ignoring new targets: 59.92 m.RhdZhd ProNav: ac range: 59.916206 m, nav range: 56.803600 m, bearing: 277.821938 deg, approach rate: -0.553270 m/s, LOS rate: -0.004983 deg/s, cmd heading: 279.396101 deg, new cmd heading: 279.389712 deg. Bh%Z-HeadingCmd: 4.876270 target range: 59.916206 and range: 60.20 m.h-h @h)*h)"h) h)g1f1f1f1d9d9d9jd9ZdE@:?QuBɢuV)q uP=iq)}ڼyyi}+i;3,5O?A @>A@><@> >(ٱ>_" VAHRS rotation from veh to nav: [[0.169062,0.974241,0.149241],[-0.984750,0.160659,0.066760],[0.041063,-0.158252,0.986545]]>HУ? ,?V? v?,?>?AĿő?i>A@I>];9Y=fFy1D͢:E>Q 54V?Q 94i)eVBY ?Q E:ycQ I?CIC ;i ;"Ť4yɮJAjh  DNOT Ignoring new targets: 59.92 m.Rh(1Zh(1% ProNav: ac range: 59.916206 m, nav range: 56.587284 m, bearing: 277.818176 deg, approach rate: -0.554600 m/s, LOS rate: -0.009680 deg/s, cmd heading: 279.389708 deg, new cmd heading: 279.378381 deg. Bh%Թ-HeadingCmd: 4.876072 target range: 59.916206 and range: 60.20 m.h-@h)*h)"h1 h1g1f1f9f=Bd9d9dAjdAZdE]-?Bɢ:) h=i)/ڼiAi%G%;%R =T;*EA:VEFA4ZEa@a@a@a@^AM 9<I I O > ,O?A6G@6uB@6K(ٱ6" BAHRS rotation from veh to nav: [[0.169752,0.974131,0.149173],[-0.984633,0.161352,0.066808],[0.041010,-0.158221,0.986552]]6Hq?`,?@?@-?`N?`G?@Ŀԑ?i6G@I6т];4YJByJIIN>)N>bDRVDRN2yZ9%Z\=ٔ^9Q-^>9\Y`=bfFyb8Db:Eb>dQ 5j4fX?Q 9j4fln)fnVBYlynLQ In?lfCIf*;if+;fˤ4ytɮvAt B*** querying acoustic contact ***i  i jhDNOT Ignoring new targets: 59.92 m.Rh9Zh9- ProNav: ac range: 59.916206 m, nav range: 56.381390 m, bearing: 277.814423 deg, approach rate: -0.552826 m/s, LOS rate: -0.010115 deg/s, cmd heading: 279.378370 deg, new cmd heading: 279.367068 deg. Bh-$޹5HeadingCmd: 4.875875 target range: 59.916206 and range: 60.20 m.h5+@h1*h9"h9 h9g9f9fAfAdAdAdIjdIZdM "?uBɢ})y }(P=iy)}ټ顁i i"u];NIBCBIBNBB =BBDBYz;B2E^Al;M4=UT****** received valid address query ******UR****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode.ԙAa Iq I O >ԉ E  E E E "E &U;*E O:VE ZE BE 9Y=fFyBD:E>Q 54\?Q 94AuQ =tI)yVBY ?Q E:yQ I?CI;i;Ӥ4y-Bɮ-A-Ejhq}DNOT Ignoring new targets: 59.92 m.Rh}ZZh}Z ProNav: ac range: 59.916206 m, nav range: 56.118736 m, bearing: 277.810476 deg, approach rate: -0.544147 m/s, LOS rate: -0.008216 deg/s, cmd heading: 279.367059 deg, new cmd heading: 279.355162 deg. BhlHeadingCmd: 4.875668 target range: 59.916206 and range: 60.20 m.hx@h*h"h hgfff BdddjdZd`@5Bɢ=Lɼ)9 ==i9)eټaaie!im)m ;mXf,wP?A;ɰ4<2cT@20O@2W5'ٱ2|" >AHRS rotation from veh to nav: [[0.171284,0.973925,0.148767],[-0.984376,0.162920,0.066790],[0.040811,-0.157882,0.986614]]2H?@e*? ?`??.?`}5Ŀ X?i2cT@I2XZ];2CYBByFxIbDnVDn!yv%vb=ٔvd9Q-z>9xYx=~fFy~ID~:E~>Q 5 4^?Q 9 4Sz)VBY E( EE&E"E`;*E:VE4ZEa%@a%@a%@a%@yQ I-?5CI#;i;ڤ4y1ɮ5A1QjhaeDNOT Ignoring new targets: 59.92 m.Rhm"Zhm"} ProNav: ac range: 59.916206 m, nav range: 55.923695 m, bearing: 277.807387 deg, approach rate: -0.560172 m/s, LOS rate: -0.008901 deg/s, cmd heading: 279.355174 deg, new cmd heading: 279.345877 deg. Bh}zùHeadingCmd: 4.875505 target range: 59.916206 and range: 60.20 m.h$@h*h"h hgfffdddjdZd 6@BɢA]̼)  A9 A9 BE 3>BE CBE IBE ?BBE =BA BA BE Dz;BE 2E &B,qP?ARBDAT read: Rx Time:04:12:47.1130 RTRx dataTimestamp_ set to:1761538368.496304Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.005127^V@^cQ@^&ٱ^! fAHRS rotation from veh to nav: [[0.171548,0.973985,0.148068],[-0.984333,0.163241,0.066638],[0.040734,-0.157180,0.986730]]^HL?*???-?ۤ?xĿI?i^V@I^|/];^CYnBynfI ppr=r=bDzVDzy~p%I=ٔGH9Q->9 Y = fFy QD i-:E>Q 54sa?Q 9%4))VBY!y%Q I%?RCI:i|:34y)ɮ5>A1ԱjhDNOT Ignoring new targets: 59.92 m.Rh@!Zh@! ProNav: ac range: 59.916206 m, nav range: 55.699306 m, bearing: 277.803745 deg, approach rate: -0.540642 m/s, LOS rate: -0.008811 deg/s, cmd heading: 279.345885 deg, new cmd heading: 279.334914 deg. BhHeadingCmd: 4.875314 target range: 59.916206 and range: 60.20 m.h@h*h"h hgfff d d d jd)Zd5y@}Bɢ}߼)y }p8i)ټ顁i?U#i#5;ph9 i ,B8P?A:W@:MR@:'ٱ:! BAHRS rotation from veh to nav: [[0.171658,0.973939,0.148241],[-0.984313,0.163332,0.066713],[0.040762,-0.157368,0.986698]]:H?*??}?? ޤ?`$Ŀ?i:W@I:B2];:CYJByJeIi5Mb@Mb@Mb@1111 195 +?I +y&1|Y5?y15`5hA5=@ 5A)5^A1Y5(A 4<bDVDyuF%}>=ٔQ->9Y=fFyZDe}9E>Q 54d?Q 94>)VBY%?Q E-:y-Q I=?tCI#8  BDAT read: Tx time:04:12:48.2309  $Ping request sent. iſV>>+@b>+@ d{>)@Id{z?AMQ?e ? (?){xbIӇid{U:publishing transmit ping time ]Fpublishing direction and range infoyi5V?Crt .?Y )IimDNOT Ignoring new targets: 59.92 m.RhmC3ZhmC3} ProNav: ac range: 59.916206 m, nav range: 55.426853 m, bearing: 277.799199 deg, approach rate: -0.584118 m/s, LOS rate: -0.009795 deg/s, cmd heading: 279.334902 deg, new cmd heading: 279.321196 deg. Bh}׹HeadingCmd: 4.875074 target range: 59.916206 and range: 60.20 m. )Iz?AMQ?e ? )Iih@h*h"h hgfffBdddjd@M@Zd`f?Bɢz) 8i)ټi+$AiMA% >ԙ AI IY Ii Ou >+,TP?A >Q@>L@>F'ٱ>l)$ JAHRS rotation from veh to nav: [[0.170991,0.973728,0.150387],[-0.984429,0.162527,0.066967],[0.040766,-0.159496,0.986357]]>H ?(??? q`?$?Mߤ?`[jĿ;?i>Q@I>l];>CYRByRhIbDZVDZ yb?<%bI=ٔb9Q-f>9dYd=ffFyfbDjEj>lQ 5r4ng?Q 9r4n)nVBYpyrQ Iv?nCIn:in:n4yxɮz0Axii?P?AJihBRihBjitz@bz ,L@L:[S /!^,@Ri5V?Crt .?ZiӇbid{ja%? @ WK܋sV0@Z'B?*s6L[>C?2i\:iA"iuF?*ie6BiBii U3i Bi]Bi @E addTargetRange:: Added new target pos. range: 58.500000 m, deltaT: 3.527396 s, deltaX: -1.700001 m, approachRate: -0.481942 m/s, rangeRepo size: 4 Q] Added new target pos. range: 58.222321 m, bearing: 278.382878 deg, lat: 36.779390 deg, lon: -121.859558 deg, deltaT: 3.527396 s, deltaX: -1.693886 m, approachRate: -0.480209 m/s, posRepo size: 4 jhYeDNOT Ignoring new targets: 58.22 m.bheePowering the camera and arming the capture device at range: 58.50 m.2heRhmZhi} ProNav: ac range: 58.222321 m, nav range: 55.496788 m, bearing: 277.754642 deg, approach rate: 0.000000 m/s, LOS rate: -0.009795 deg/s, cmd heading: 279.321187 deg, new cmd heading: 279.310544 deg. BhyHeadingCmd: 4.874888 target range: 58.222321 and range: 58.50 m.h@h*h"h h2hgfffdddjdZd?eBɢe)a e(i)ټ顉i.$iC;G+eBBIB0BBBBDB#z;B2E &Changing to mode: 2ԁ@ @@/@ԩE- % E- &E- %E) "E- O];*E- ;VE- 4ZE) BE- 9E ?Y ?=fFykD{uE>Q 54k?Q 94)VBYw?Q E:y״Q I?CI;i;4y Bɮ A EMB*** querying acoustic contact ***iI iIjhQ]DNOT Ignoring new targets: 58.22 m.bhY]Powering the camera and arming the capture device at range: 58.50 m.2hYRhZh ProNav: ac range: 58.222321 m, nav range: 55.206131 m, bearing: 277.747817 deg, approach rate: -0.609452 m/s, LOS rate: -0.014385 deg/s, cmd heading: 279.310532 deg, new cmd heading: 279.289951 deg. BhHeadingCmd: 4.874529 target range: 58.222321 and range: 58.50 m.h%@h*h"h h2hgfffBdddjdZd@s?=Bɢ=h)A Ex}iA)ENڼAAiMk%iMNM|;QIU%@IQ7@ @@@ T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.^A5 k<1 E * E E 'E "E a;*E O:VE '4ZE a @a @a @a @AQ IY Ii O} >|",roP?A2K@2F@2|*ٱ2Yy$ :AHRS rotation from veh to nav: [[0.170256,0.973825,0.150591],[-0.984521,0.161653,0.067727],[0.041611,-0.159791,0.986273]]2H?)?`F?2@ ? V? N?@tĿ`?i2K@I2v_;0YnByrVIv@Av@AbDzVDzkyU<%O=ٔ Q- >9 Y = fFysDME>!Q 5-4%n?Q 9-4%)%VBY)y-ᴿQ I-?%CI%:i%:%4y9ɮ=A9jhaeDNOT Ignoring new targets: 58.22 m.bhamPowering the camera and arming the capture device at range: 58.50 m.2hiRhm0Zhm0 ProNav: ac range: 58.222321 m, nav range: 54.973183 m, bearing: 277.742368 deg, approach rate: -0.628893 m/s, LOS rate: -0.014774 deg/s, cmd heading: 279.289960 deg, new cmd heading: 279.273542 deg. Bh:"HeadingCmd: 4.874243 target range: 58.222321 and range: 58.50 m.h@h*h"h h2hgfffdddjdZdu?Bɢ2) Zi)ڼiR%i;X;MeBCBIB BB =BBDBy;BT2EA ؟AI I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500219ԩ ](,KP?AɰYnByrOIbDzVDzy%b%-H=ٔ-Q-->9-"?Y5"?=5fFy5|D5E5>9Q 5E4=q?Q 9M4=)=VBYIyIQ IM?=CI=:i=:=4yUBɮUAyEE EE,E"E>T;*E:VEg4ZEBE".,+P?AY=By=WI AA]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004295iMb@Mb@Mb@ 9p= ף?Mbpy&1|Y%?y`A@ GA)bAY\AbDVD:yV<%==ٔQ->9Y=fFyD E >Q 54u?Q 94N)VBY"%?Q E:y%&Q I%?CI:i :^ 4y)ɮ-A)jhDNOT Ignoring new targets: 58.22 m.bhPowering the camera and arming the capture device at range: 58.50 m.2hRhIZhI  ProNav: ac range: 58.222321 m, nav range: 54.444504 m, bearing: 277.728154 deg, approach rate: -0.645740 m/s, LOS rate: -0.019375 deg/s, cmd heading: 279.255699 deg, new cmd heading: 279.230678 deg. BhTHeadingCmd: 4.873495 target range: 58.222321 and range: 58.50 m.h@h*h"h h2hgf!f!f%}Bd!d)d)jdIZdM?@额 Bɢ) Xpi))ۼ顡i`!'ip;MpƱ5,XP?A29@23@2o 2ٱ2,& :AHRS rotation from veh to nav: [[0.167983,0.973892,0.152695],[-0.984832,0.158966,0.069541],[0.043452,-0.162061,0.985824]]2Hs? *?@? Y? uͱ?b??hĿދ?i29@I2_;0YBByBbI LN<bDRVDRfyZD=%Zc=ٔZQ-Z>9\Y\=^fFy^D^?ѻEb>`Q 5j4bx?Q 9n4bR)bVBYlynrQ In?b5CIbj<;ibv=;b4ypɮrlAtjh DNOT Ignoring new targets: 58.22 m.bhPowering the camera and arming the capture device at range: 58.50 m.2hRh(Zh(- ProNav: ac range: 58.222321 m, nav range: 54.212952 m, bearing: 277.721744 deg, approach rate: -0.672864 m/s, LOS rate: -0.018705 deg/s, cmd heading: 279.230673 deg, new cmd heading: 279.211363 deg. Bh-cM5HeadingCmd: 4.873158 target range: 58.222321 and range: 58.50 m.h5@h1*h9"h9 h92h9g9f9fAfAdAdAdAjdIZdMpS@B$>BCBIBBB =BBBy;B62EB5CB5CB1B5 =B5 =C55AU BɢU)Y ]D5iY)]ۼYYie-'i{t;Q - checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760170;,P?AJ.@J(@JZ5ٱJa& VAHRS rotation from veh to nav: [[0.166656,0.974117,0.152712],[-0.985021,0.157527,0.070133],[0.044261,-0.162112,0.985779]]JHT?`+??J`)? :?n?@Ŀ?iJ.@IJ^;JCY^By^iIieMb@Mb@Mb@aaaa a9ev/?9YYY=efFyeDe2Ee>iQ 54m}?Q 94mǶ)mVBY})?Q E:ysQ I?m_CIm;imC;m>4yBɮ;AEB*** querying acoustic contact ***i ijh%DNOT Ignoring new targets: 58.22 m.bh!%Powering the camera and arming the capture device at range: 58.50 m.2h!Rh-|iZh-|i= ProNav: ac range: 58.222321 m, nav range: 53.887611 m, bearing: 277.715367 deg, approach rate: -0.646959 m/s, LOS rate: -0.012758 deg/s, cmd heading: 279.211358 deg, new cmd heading: 279.192111 deg. Bh= EHeadingCmd: 4.872822 target range: 58.222321 and range: 58.50 m.hE(@hA*hI"hI hI2hIgIfIfQfUBdQdYdYjdYZd]@^@颅BɢG) i)Aܼ顑iC(iˆ;G@>c@>~c9ٱ>?' FAHRS rotation from veh to nav: [[0.164784,0.974413,0.152858],[-0.985291,0.155512,0.070829],[0.045245,-0.162281,0.985707]]>H`?@d.?ې??!?@i*?Ŀ?i>@I>7^;>CYNByNoIIR)>)Rp=TTbDZVDZyb<%b_=ٔbn2Q-f>9dYd=ffFyfDjzEj>lQ 5r4n?Q 9r4n˼)nVBYpyvQ Iv?n|CInp:in:n["4yxɮzAxjhDNOT Ignoring new targets: 58.22 m.bh!%Powering the camera and arming the capture device at range: 58.50 m.2h!Rh-_Zh-_= ProNav: ac range: 58.222321 m, nav range: 53.656239 m, bearing: 277.711253 deg, approach rate: -0.684975 m/s, LOS rate: -0.012232 deg/s, cmd heading: 279.192124 deg, new cmd heading: 279.179728 deg. Bh=QEHeadingCmd: 4.872605 target range: 58.222321 and range: 58.50 m.hEb@hA*hA"hA hA2hAgIfIfIfIdQdQdQjdYZd] @颅Bɢ ) i)G;ܼ顉iBBBB =BBBby;B2E^AIIIO>i checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521749ԑ bI,]'Q?A2| @2I@2}<ٱ2]'& :AHRS rotation from veh to nav: [[0.162600,0.974914,0.151997],[-0.985617,0.153295,0.071131],[0.046046,-0.161377,0.985818]]2H?2?t?,`.?5? M?`Ŀ`ҋ?i2| @I2w ^;2CDn=Dn%=Er ErEr(Ep"ErmR;*Er:VErc44ZEpBEr9)Y)=-fFy-D-E5>1Q 5E45}?Q 9E45)5VBYAyEQ IE?5CI5;i5A:5)4yQɮUAQjhy}DNOT Ignoring new targets: 58.22 m.bhyPowering the camera and arming the capture device at range: 58.50 m.2hRh=Zh= ProNav: ac range: 58.222321 m, nav range: 53.382000 m, bearing: 277.706980 deg, approach rate: -0.661428 m/s, LOS rate: -0.010358 deg/s, cmd heading: 279.179720 deg, new cmd heading: 279.166836 deg. Bh{HeadingCmd: 4.872380 target range: 58.222321 and range: 58.50 m.h@h*h"h h2hgfffdddjdZd dg @Bɢ-ۼ) :i) 8ܼ  i x*yiEGU(hAi9(hAY AU; BDAT read: Tx time:04:12:51.8309 $Ping request sent.i--(>-,@->&@ @@/@-iw,@ -| >)-@I-| ))-2z?"د?¹? -?)-\I-iFi-| ))-:publishing transmit ping time-Fpublishing direction and range infoy)-vbK?Y[ep ?Y))))) )))I)i))))) )))I)))-2z?"د?¹? )))I)i)))^A ܪ&<Ii I O > JP,y:AQ?Aɰ;Y~!By~IaM@aM aM@aM aU@aU aU@aU bD]VD]1ym=%mF=ٔmQ-m>9qYq=ufFyuD}E}>Q 54ꆜ?Q 94 )VBQ A+:YQ E:yQ I?CI:i>t/4yɮ AiYi]a32Q?AJi]_BRi]_Bji]!h@b]M4K@iZUr!@R]vbK?Y[ep ?Zi]iFbi]| j]@";M(KV'@Z]t*?oDM8|?2i]BY:i]@"i]sh?*i]6!_Bi]җBi]Ҟ?i]e6i]Bi]TBi]@@ addTargetRange:: Added new target pos. range: 56.200001 m, deltaT: 3.784889 s, deltaX: -2.299999 m, approachRate: -0.607679 m/s, rangeRepo size: 4  Added new target pos. range: 55.931156 m, bearing: 276.464228 deg, lat: 36.779389 deg, lon: -121.859559 deg, deltaT: 3.784889 s, deltaX: -2.291164 m, approachRate: -0.605345 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 55.93 m.bhPowering the camera and arming the capture device at range: 56.20 m.2hRh Zh  ProNav: ac range: 55.931156 m, nav range: 53.223740 m, bearing: 277.528171 deg, approach rate: 0.000000 m/s, LOS rate: -0.010358 deg/s, cmd heading: 279.166825 deg, new cmd heading: 279.153848 deg. BhHeadingCmd: 4.872154 target range: 55.931156 and range: 56.20 m.h@h*h"h h2hgfffddd jdL@Zd`Xp?]Bɢ]˼)a eQ QwV,[Q?AB0B0B2IB2 BB0B0B0B2y;B21EV[@V(@V CٱV5y$ ^AHRS rotation from veh to nav: [[0.158240,0.975869,0.150466],[-0.986253,0.148864,0.071730],[0.047600,-0.159748,0.986010]]VH6A?Q:? uB?a ?@\?^? rĿ d?iV[@IV];VCYf5ByfI hhbDrVDrNyv=%zR=ٔzQ-z>9|Y|=~fFy~D9E>Q 5-4?Q 9-4)VBQ A5 :Y1Q E=R:y=Q I=?CI;i%O?34yMBɮMtAUĤEjhDNOT Ignoring new targets: 55.93 m.bhPowering the camera and arming the capture device at range: 56.20 m.2hRh-Zh- ProNav: ac range: 55.931156 m, nav range: 52.965103 m, bearing: 277.524448 deg, approach rate: -0.657023 m/s, LOS rate: -0.009504 deg/s, cmd heading: 279.153848 deg, new cmd heading: 279.142624 deg. BhйHeadingCmd: 4.871958 target range: 55.931156 and range: 56.20 m.h@h*h"h h2hgfffdddjdZd ?Bɢ4) =i)ŔۼiU-i ;X?;I@I1ߍ >ߍ=? @ @@)0@YE EEE"EP;*EA:VEZEBEɞ\,tQ?A06ܔ@6{כ@6]Dٱ6_e$ BAHRS rotation from veh to nav: [[0.156832,0.976100,0.150444],[-0.986462,0.147428,0.071818],[0.047922,-0.159671,0.986006]]6H?@59QYQ=UfFyUD]@aE]>aQ 5m4e?Q 9m4eP)eWBQ AmT:Ym?Q Eu:yuҸQ Iu?eCIe+;ie0;e';4yyɮ}AjhDNOT Ignoring new targets: 55.93 m.bhPowering the camera and arming the capture device at range: 56.20 m.2hRh[8Zh[8E ProNav: ac range: 55.931156 m, nav range: 52.714684 m, bearing: 277.525662 deg, approach rate: -0.615990 m/s, LOS rate: 0.002999 deg/s, cmd heading: 279.142619 deg, new cmd heading: 279.146277 deg. BhE9MHeadingCmd: 4.872022 target range: 55.931156 and range: 56.20 m.hM@hI*hI"hI hI2hIgIfQfqfuBdydydyjdyZd}?Bɢ^@) =i)Zڼi^.i l; ;I @IIԑx@ @@4@Թ^A ; E $ E ;E *E "E g\;*E ;VE (N4ZE a @a @a @a @A] .AIa Iy O >1c,B̎Q?A2Ӕ@2Λ@2Dٱ2/$ :AHRS rotation from veh to nav: [[0.155773,0.976229,0.150703],[-0.986625,0.146351,0.071779],[0.048017,-0.159868,0.985970]]2H\?E=?;J?o?`?௕?vĿ?i2Ӕ@I2b];0\YbYBybIbDnVDnN2yvR=%vQ=ٔv Q-v>9z ?Yz ?=zfFyzDz3E~>Q 5 4=?Q 9 4)&WBY y Q I ?"CI:i9:A4yɮRA5B*** querying acoustic contact ***i1 i1jhAMDNOT Ignoring new targets: 55.93 m.bhIMPowering the camera and arming the capture device at range: 56.20 m.2hIRhU8ZhU8e ProNav: ac range: 55.931156 m, nav range: 52.477180 m, bearing: 277.527100 deg, approach rate: -0.606161 m/s, LOS rate: 0.003687 deg/s, cmd heading: 279.146280 deg, new cmd heading: 279.150613 deg. Bhe!9mHeadingCmd: 4.872097 target range: 55.931156 and range: 56.20 m.hm9@hi*hi"hi hi2higqfqfqfydydydyjdZd.?颭Bɢ) >i)!ڼ顱i/iF;;I9@IT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.5/@1 @1@5/@1BYA]4<BaBaBeIBeDBBaBaBaBex;Be1E^AU;IQ Ia Om > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744692A i,Q?A2Д@2˛@2߈Dٱ29# :AHRS rotation from veh to nav: [[0.155405,0.976484,0.149426],[-0.986686,0.146092,0.071474],[0.047964,-0.158544,0.986186]]2HQ?[??a ? ?#L? ?(KĿ֎?i2Д@I2];2CYBrByBIID)F>bDNVDNyV>%VN=ٔVz 9Q-V>9XYX=ZfFyZDZvE^>E` Eb E`E`"E`*Eb:VE`ZE`BEb0iq)}bؼ顁i1iț;o;I@IQ.@ @@/@ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996766q^Ar;ԡ I I O >0p,Q?A2checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248733: ͔@:Ǜ@:lDٱ:97# FAHRS rotation from veh to nav: [[0.154948,0.976555,0.149437],[-0.986754,0.145629,0.071479],[0.048040,-0.158533,0.986184]]:HX? ?? ?|?jL??JĿ`Ҏ?i: ͔@I:Ų];8Y^By^IiMMb@Mb@Mb@IIII I9MMbX?~jtMb?YM ?yMDM=MAM@ M1A)MbAIYMAY]AAbDeVDe1yu =%u>=yٔ}c;Q-}>9Y=fFyDE>Q 54?Q 94)UWBY ?Q E:yQ I?^CI ;i ;oP4yɮ AjhUDNOT Ignoring new targets: 55.93 m.bhYePowering the camera and arming the capture device at range: 56.20 m.2haRhegZhmg ProNav: ac range: 55.931156 m, nav range: 52.004555 m, bearing: 277.525696 deg, approach rate: -0.540454 m/s, LOS rate: -0.007071 deg/s, cmd heading: 279.155432 deg, new cmd heading: 279.146398 deg. BhIHeadingCmd: 4.872024 target range: 55.931156 and range: 56.20 m.h@h*h"h h2hgfffCBdddjdZd{@%Bɢ%?)% %]>i))-OW׼))iM3iU󠴿Ui;U`;IU@IYE EE'E"EW;*E:VE'4ZEa@a@a@a@ԩP@ @@ @ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500646^A jb;Ii Iy O > B] $>BY B] IB] rBBY BY BY B] Vx;B] 1Ev,Q?A4<ɰ49Y=fFyDBE>Q 545?Q 94)nWBYyĶQ I?{CI;i ;W4yBɮZAΤEԹjhDNOT Ignoring new targets: 55.93 m.bhPowering the camera and arming the capture device at range: 56.20 m.lFinal approach. Armed for intercept at range: 56.20 m.\Transitioning guidance mode to: FINAL_APPROACH:h@RhZh  ProNav: ac range: 55.931156 m, nav range: 51.784187 m, bearing: 277.522870 deg, approach rate: -0.538830 m/s, LOS rate: -0.006937 deg/s, cmd heading: 279.146389 deg, new cmd heading: 279.137878 deg. BhX-HeadingCmd: 4.871875 target range: 55.931156 and range: 56.20 m.h-f@h)*h)"h) h)g1f1f1f9d9d9d9jd9ZdE -@Bɢ) >i)iռi6iҥ;LX;If@Iechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.754234O@ @@@E1 EE(E"E2h;*EO:VEc44ZEBE_i I A BDAT read: Rx Time:04:12:54.3065  TRx dataTimestamp_ set to:1761538375.808368 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005976y |, 7Q?A2ؔ@2ӛ@2Dٱ2&" :AHRS rotation from veh to nav: [[0.156367,0.976426,0.148801],[-0.986539,0.147103,0.071422],[0.047849,-0.157966,0.986285]]2H?>? ?ຑB?H?? <8Ŀ?i2ؔ@I2 `;2CYBByB<I DDiMMb@Mb@Mb@IIII I9M}?5^I?Q:v?YMM?yMuM9yYy=}fFy}D} ;E>Q 54?Q 94)WBY?Q E:yQ I?CI ;iT ;^4yɮAjhDNOT Ignoring new targets: 55.93 m.bhRh8GZh8G ProNav: ac range: 55.931156 m, nav range: 51.582024 m, bearing: 277.521792 deg, approach rate: -0.508080 m/s, LOS rate: -0.002721 deg/s, cmd heading: 279.137865 deg, new cmd heading: 279.134616 deg. BhHeadingCmd: 4.871818 target range: 55.931156 and range: 56.20 m.h@h*h"h hgfffnBdd djdZd%I @qBɢdٻ) >i)JӼi28i%%\;%!J;I%@I)N@ @ @ /@ ԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.256720^AM yb];I I bEuɀ'4jEu9`Y`=bfFybDf,;Ef>hQ 5j4jÛ?Q 9n4j)jWBYlynXQ In?jCIj;ij;j.e4ytɮvAtB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 55.93 m.bhRhGZhG- ProNav: ac range: 55.931156 m, nav range: 51.389023 m, bearing: 277.520255 deg, approach rate: -0.506809 m/s, LOS rate: -0.004051 deg/s, cmd heading: 279.134614 deg, new cmd heading: 279.129986 deg. Bh-15HeadingCmd: 4.871737 target range: 55.931156 and range: 56.20 m.h5F@h1*h1"h9 h9g9f9fAfAdAdAdIjdIZdM @}Bɢ}6)y }>i)Ҽ顁iO:iTG;U;IF@IuDAT read: 04:12:54.3065 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 408, 0.12,-0.446,-2.108,-0.133,-0.529, PHS= 0.185,-1.534, 0.352, RAW= 154.6, 11.0, CAL= 154.5, 12.1, ROT= 355.5, -12.1 }Ygot valid direction response: 04:12:54.3065 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 408, 0.12,-0.446,-2.108,-0.133,-0.529, PHS= 0.185,-1.534, 0.352, RAW= 154.6, 11.0, CAL= 154.5, 12.1, ROT= 355.5, -12.1 PDAT read: Bearing 92.0, -4.0 (Local) ~Local bearing/azimuth received: Bearing 92.0, -4.0 (Local) DAT read: Range 11 to 50 : 53.5 m (Round-trip 71.4 ms) speed 0.4 m/s *DAT read: user:110> BDAT read: Tx time:04:12:55.4309 $Ping request sent.iEZĿEX9>E,@E D>E,@ E@X>)Eu@IE@XAAELi?Hfa?̩~}? E?)E.#EIEi٠iE@XAA-:publishing transmit ping time-Fpublishing direction and range infoyAEO8&N1?4_9h?YAAAAA A)AIAiAAAAA A)AIAAAELi?Hfa?̩~}? A)AIAiAAAAAB %>B CB :IB BB  =B B B x;B l1EBCBCBœCB =B =CR4!-L@ @@/@I ^A #2;A >A >y E  E "E ,E "E Q;*E ;VE g4ZE BE ȥ,l.R?A$$J@J@JV @ٱJ;81 AHRS rotation from veh to nav: [[0.164924,0.976135,0.141280],[-0.985192,0.156232,0.070628],[0.046870,-0.150836,0.987447]]JH:?9Y=fFyD;<E>Q 54?Q 94)WBYyQ I?CI;i*;n4yɮwA iIiMR?AJiMTBRiMTBjiM<@bMё˜XI@%ڻVbttR&@RMO8&N1?4_9h?ZiMi٠biM@XjMP0@&U\}IAڨ#,@ZM/uo쐽?Hj)̚g?2iMK:iM@"iM7F?*iM>BiMޜBiIiM5,;iMBiMMBiM&@ addTargetRange:: Added new target pos. range: 53.500000 m, deltaT: 3.539942 s, deltaX: -2.700001 m, approachRate: -0.762725 m/s, rangeRepo size: 4  Added new target pos. range: 53.244553 m, bearing: 276.877620 deg, lat: 36.779389 deg, lon: -121.859561 deg, deltaT: 3.539942 s, deltaX: -2.686604 m, approachRate: -0.758940 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 53.24 m.bhRhZh- ProNav: ac range: 53.244553 m, nav range: 51.276283 m, bearing: 277.492509 deg, approach rate: 0.000000 m/s, LOS rate: -0.004051 deg/s, cmd heading: 279.129997 deg, new cmd heading: 279.123250 deg. Bh)QHeadingCmd: 4.871620 target range: 53.244553 and range: 53.50 m.hO@h*h"h hgfffdddjdJ@Zd@ ?颥Bɢ) >i) μ顩i5p=i/; LyECE9u"?Yu"?=}fFy}D};E}>Q 54 ?Q 94)WBY>Q E:yCQ I?CI ;ie ;hx4yɮ AjhaeDNOT Ignoring new targets: 53.24 m.bhaRh Zh  ProNav: ac range: 53.244553 m, nav range: 51.022411 m, bearing: 277.490143 deg, approach rate: -0.449416 m/s, LOS rate: -0.004209 deg/s, cmd heading: 279.123248 deg, new cmd heading: 279.116116 deg. Bh8HeadingCmd: 4.871495 target range: 53.244553 and range: 53.50 m.hJ@h*h"h hg f f f BdddjdZdj?颥Bɢ֊) >i)˼顩iW@iB;jBBxIB׀BB =BBDBw;B\1E    )E L@A  @A @E /@A D zD @AE $ E E E "E g\;*E 4:VE ZE BE 0 IG  $9 Y A^AM -B<ԑAIIO?k,'vR?A;ɰ;2*e@2_@2=6ٱ2 :AHRS rotation from veh to nav: [[0.173271,0.974948,0.139479],[-0.983861,0.164928,0.069394],[0.044652,-0.149252,0.987791]]2H-?@2?p?{Z?`ñ?`ܦ?ÿ?i2*e@I2Kv];0YBЀByBoIi Mb@Mb@Mb@     9 A`"?~jtY >y    @ A) A Y AbD%VD%0y5yB<%5 =ٔ=;7;Q-=>99Y9==fFy=DEv<EE>IQ 5U4Mh?Q 9U4M<)MWBY]N>Q E]:y]lQ I]?M CIM:iM:MP4yaɮe AajhimDNOT Ignoring new targets: 53.24 m.bhiRhu6Zhu6 ProNav: ac range: 53.244553 m, nav range: 50.806366 m, bearing: 277.490322 deg, approach rate: -0.417268 m/s, LOS rate: 0.000346 deg/s, cmd heading: 279.116118 deg, new cmd heading: 279.116655 deg. BhOs7HeadingCmd: 4.871505 target range: 53.244553 and range: 53.50 m.h^@h*h"h hgfffBdddjdZd`?颍!Bɢi) ߮>i)uɼ顑i^$Ci;sģ,xϏR?A>h@>6@>.ٱ>M FAHRS rotation from veh to nav: [[0.177877,0.974457,0.137090],[-0.983126,0.169931,0.067731],[0.042706,-0.146824,0.988240]]>H ?.?`(?uM?V?`ݥ?$¿?i>h@I>@];9dYd=ffFyfDfE<Ej>hQ 5r4jC?Q 9r4j)jWBYpyrӷQ Ir?j!CIj& ;ije ;j4yvBɮz^ AzפEjhDNOT Ignoring new targets: 53.24 m.bhRh%Zh%5 ProNav: ac range: 53.244553 m, nav range: 50.642418 m, bearing: 277.489594 deg, approach rate: -0.457159 m/s, LOS rate: -0.002034 deg/s, cmd heading: 279.116664 deg, new cmd heading: 279.114475 deg. Bh5=HeadingCmd: 4.871467 target range: 53.244553 and range: 53.50 m.h=@h9*h9"h9 h9gAfAfAfAdIdIdIjdIZdM6q?}"Bɢ}[;)y >i)Ǽ顁if5Ei4;BaAe<Bu*>BqBuIBuBBqBqBqBuw;Bu<1Eԩ t,R?A2@2S@2_'ٱ2$Y :AHRS rotation from veh to nav: [[0.181624,0.973979,0.135563],[-0.982519,0.174008,0.066162],[0.040851,-0.145210,0.988557]]2Hu??@*?@"Z?p@E? ?`w?>¿B?i2@I2I];0YBӀByBtI J;JbDNVDNkyVF%VK=ٔVL;Q-V>9XYX=ZfFyZD^<E^>`Q 5f4b>?Q 9f4b)bWBYdyfWQ If?b7CIb6:ibp:b4ylɮn Al~B*** querying acoustic contact ***i| i|jh DNOT Ignoring new targets: 53.24 m.bh Rh lZh l% ProNav: ac range: 53.244553 m, nav range: 50.471897 m, bearing: 277.488099 deg, approach rate: -0.423613 m/s, LOS rate: -0.003727 deg/s, cmd heading: 279.114478 deg, new cmd heading: 279.109977 deg. Bh%#-HeadingCmd: 4.871388 target range: 53.244553 and range: 53.50 m.h-i@h)D1D54=EE- EEEE*EA"EEd;*EE:VEE(N4ZEABEE=iI)mnļiqiuvGiuǵ};}A> A .AI! I1 OE >1 7װ,R?ABʕ@B`Ŝ@BٱB  JAHRS rotation from veh to nav: [[0.185484,0.973327,0.135019],[-0.981891,0.178192,0.064329],[0.038554,-0.144506,0.988752]]BH?~%?@PH?k?w? b?.¿@ܣ?iBʕ@IB/];BCYRЀByVpIi-Mb@Mb@Mb@)))) )9-"~?MbI +Y->y--94-A-@ ))-@)Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.758823Y-fAbDMVDMy]Ey%]@=ٔe;Q-e>9e ?Ye ?=mfFym'Dmx<Em>qQ 5}4uc?Q 9}4u)uWBY3>Q E;yQ I?uNCIu;iu;u4yɮ AjhDNOT Ignoring new targets: 53.24 m.bhRh/Zh/ ProNav: ac range: 53.244553 m, nav range: 50.295403 m, bearing: 277.485292 deg, approach rate: -0.414517 m/s, LOS rate: -0.006617 deg/s, cmd heading: 279.109970 deg, new cmd heading: 279.101519 deg. BhOHeadingCmd: 4.871241 target range: 53.244553 and range: 53.50 m.h4@h*h"h hgfffBdddjdZd @&Bɢ𺙺) >i)dJ¼i"Ii;BDAT read: Rx Time:04:12:57.9044 TRx dataTimestamp_ set to:1761538379.348087checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011901ԉ Be ,>Ba Be IBe BBe =Ba Ba Be w;Be /1E,%R?Af@f@fٱf rAHRS rotation from veh to nav: [[0.188896,0.972724,0.134637],[-0.981335,0.181953,0.062239],[0.036044,-0.143881,0.988938]]fH`-?@ ?@;?g @J?@ݯ?Mt?@j¿b?if@IfnO];fCYzByzWIbDVDyȽ%L=ٔM;Q->9"?Y"?=fFy0D%J <E%>)Q 554-u?Q 954-)-WBY1y5Q I=?-cCI- :i-F:-4yAɮEAAjhimDNOT Ignoring new targets: 53.24 m.bhqRhuZhu ProNav: ac range: 53.244553 m, nav range: 50.129147 m, bearing: 277.481969 deg, approach rate: -0.414492 m/s, LOS rate: -0.008311 deg/s, cmd heading: 279.101528 deg, new cmd heading: 279.091527 deg. BhHeadingCmd: 4.871066 target range: 53.244553 and range: 53.50 m.hߛ@h*h"h hgfffdAdAdAjdAZdMn @颕(BɢS) >i)3g顙iBCKiUK;r=Iߛ@IY=%=%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263947M@ @@3@ԉD!zD!E56 E5 E5+E1"E5l;*E5:VE5 [4ZE1BE5K DAT read: 04:12:57.9044 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 420,-0.44, 0.984,-0.660, 1.335, 0.926, PHS= 0.159,-1.542, 0.364, RAW= 155.6, 11.2, CAL= 155.7, 12.4, ROT= 354.3, -12.4  Ygot valid direction response: 04:12:57.9044 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 420,-0.44, 0.984,-0.660, 1.335, 0.926, PHS= 0.159,-1.542, 0.364, RAW= 155.6, 11.2, CAL= 155.7, 12.4, ROT= 354.3, -12.4  PDAT read: Bearing 93.5, -5.2 (Local)  ~Local bearing/azimuth received: Bearing 93.5, -5.2 (Local)  DAT read: Range 11 to 50 : 52.0 m (Round-trip 69.4 ms) speed 0.3 m/s  *DAT read: user:111> % BDAT read: Tx time:04:12:59.0309 % $Ping request sent.- i B`ſ:,}R?A 5^> -@ +H> '-@ k]>) @I k] E? ƻG?:H? +)?) HI )˽i k] 6:publishing transmit ping timei:Fpublishing direction and range infoy  =V?C.ոh`r|?Y ) I i ) I E? ƻG?:H? ) I i F@F@F' ٱFxP VAHRS rotation from veh to nav: [[0.192278,0.971811,0.136431],[-0.980769,0.185557,0.060499],[0.033478,-0.145440,0.988801]]FH??v?`vbS??@$?ĝ¿A?iF@IFn8];FCYXyXi}Mb@Mb@Mb@yyyy y9}x&1?MbpI +Y}A>y}}9}A}@ }A)}^AyY}AAAbDVDk1y:%&=ٔ;Q->9Y=fFy:D;E> Q 54 ?Q 94 %) WBY>Q E:y_Q I? CI  :i : 84y!ɮ%A)i i |R?AJi OBRi OBji vؚ@b P]%I@ qt5j{9&@R =V?C.ոh`r|?Zi )˽bi k]j y;@Q(s0H^*@Z ~%M4?-/CA?2i YF:i @"i EÞ?*i =Bi Bi EÞ?i =i ޜBi GBi |ؚ@5 addTargetRange:: Added new target pos. range: 52.000000 m, deltaT: 3.527038 s, deltaX: -1.500000 m, approachRate: -0.425286 m/s, rangeRepo size: 4 e Added new target pos. range: 51.752632 m, bearing: 277.249893 deg, lat: 36.779387 deg, lon: -121.859562 deg, deltaT: 3.527038 s, deltaX: -1.491920 m, approachRate: -0.422995 m/s, posRepo size: 4 jhaeDNOT Ignoring new targets: 51.75 m.bhiRhmZhi} ProNav: ac range: 51.752632 m, nav range: 49.987038 m, bearing: 277.250062 deg, approach rate: 0.000000 m/s, LOS rate: -0.008311 deg/s, cmd heading: 279.091529 deg, new cmd heading: 279.078462 deg. BhyHeadingCmd: 4.870838 target range: 51.752632 and range: 52.00 m.hݛ@h*h"h hgfffVBdddjdJ@ZdL?E+BɢE)I M>iI)M\IIiM&MiUǴU;]=I]ݛ@IyF@ @@0@! EM : EM .EM (EI "EM \p;*EM ;VEM c44ZEI aU @aU @aU @aU @^A ;=Q A)I1IAOU>!,S?Aɰp;6#@6e@6Cٱ61 >AHRS rotation from veh to nav: [[0.196207,0.971170,0.135394],[-0.980142,0.190201,0.056084],[0.028715,-0.143710,0.989203]]6H`S? ?T?R]X??Yg? e¿?i6#@I6k^];4YFByF<IbDVVDV1y^%^^=ٔ^dT9`Y`=bfFybADfP1<Ef>hQ 5n4j?Q 9n4j))jWBYlynڱQ Ir?jCIj|:ij:j4yvBɮvTAvؤEjhDNOT Ignoring new targets: 51.75 m.bhRhX ZhX - ProNav: ac range: 51.752632 m, nav range: 49.827976 m, bearing: 277.240029 deg, approach rate: -0.474431 m/s, LOS rate: -0.030019 deg/s, cmd heading: 279.078470 deg, new cmd heading: 279.048276 deg. Bh-Ѥ=HeadingCmd: 4.870311 target range: 51.752632 and range: 52.00 m.h=ٛ@h9*hA"hA hAgAfAfIfIdIdIdjdZd?)=,BɢE$E)A Es>iA)EAAiMl6Niٴnu;5 =Iٛ@IAAB+>BBIBBBBBB~w;B(1EL@ @!@%k4@!Yԉ^A =A .AI I O >Ee g Ee 3Ee 'Ea "Ee ;*Ee t ;VEe '4ZEa BEe 9  ?Y  ?= fFy ID :E >Q 54ܴ?Q 9%4J.)WBY!y%ıQ I%?CI;i;³4y)ɮ5A1MB*** querying acoustic contact ***iI iIjhYeDNOT Ignoring new targets: 51.75 m.bhaRheZhmu ProNav: ac range: 51.752632 m, nav range: 49.647823 m, bearing: 277.228449 deg, approach rate: -0.436769 m/s, LOS rate: -0.028179 deg/s, cmd heading: 279.048280 deg, new cmd heading: 279.013411 deg. Bh}HeadingCmd: 4.869703 target range: 51.752632 and range: 52.00 m.hԛ@h*h"h hgfffdddjdZd3?/Bɢu) G>i)^gi_Oi촿 ;Ͼ#=Iԛ@I ԙT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.MA@I @I@M/@I^A3=A>A>A I! I9 OE >e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248490 F/,)IS?A2,@2'@2Dżٱ2\ :AHRS rotation from veh to nav: [[0.197327,0.970063,0.141562],[-0.980040,0.191644,0.052850],[0.024139,-0.149166,0.988518]]2HB? ??}\ȇ?3? ˷?ÿ?i2,@I2f];2CYBByBIi Mb@Mb@Mb@     9 K?MbP?:vY ^>y : Լ  A @ A) x@ Y A ;bDVD0y%A=ٔ;Q->9Y=fFyRDQ:E>Q 545?Q 943)WBY>Q E:ybQ I?CIG ;i~ ;)4yBɮ:AEjhDNOT Ignoring new targets: 51.75 m.bhRh-Zh-  ProNav: ac range: 51.752632 m, nav range: 49.440926 m, bearing: 277.212449 deg, approach rate: -0.489582 m/s, LOS rate: -0.038017 deg/s, cmd heading: 279.013419 deg, new cmd heading: 278.965221 deg. Bh кHeadingCmd: 4.868862 target range: 51.752632 and range: 52.00 m.h͛@bEc44jE>4rE./E/ E&E(E"Eaf;*E;VEc44ZEa-@a-@a-@a-@h*h1"h1 h1g1f1f9f=Bd9dAdAjdAZdE?m1BɢuX))q u:>iq)}%yyi}Oi;'=I͛@IM@@I @I@I@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.500496^AI B (>B B xIB ׀BB B B B qw;B 1EBCBCBB =B =Cɬ 5A} ؟AI I O >.Y,cS?A2&,@2&@2dٱ2 >AHRS rotation from veh to nav: [[0.197265,0.969814,0.143345],[-0.980103,0.191811,0.051055],[0.022019,-0.150564,0.988355]]2H???Y?]F?#?(?Eÿ?i2&,@I2jM];2CYFuByFIIJ=)J>bDNVDN:yV[%VZ=ٔZƹ;Q-Z>9Z"?YZ"?=^fFy^YD^yLE^>`Q 5f4b*?Q 9f4b_8)bWBYhyjgQ Ij?bCIb:ib:b4ylɮrApjh DNOT Ignoring new targets: 51.75 m.bh Rh q.Zhq.% ProNav: ac range: 51.752632 m, nav range: 49.258167 m, bearing: 277.198236 deg, approach rate: -0.488437 m/s, LOS rate: -0.038127 deg/s, cmd heading: 278.965225 deg, new cmd heading: 278.922427 deg. Bh%TѺ-HeadingCmd: 4.868114 target range: 51.752632 and range: 52.00 m.h-Ǜ@h)*h)"h) h)g)f1f1f1d1d9d9jd9Zd=?m3Bɢm2X)i m>ii)u_\qqiuzJPchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.752578i% !%;%*=I%Ǜ@I)Q@ @@@E-* E-"E)E)"E-a;*E-;VE)ZE)BE-,|S?A@Z!@Z@Z˧ٱZ0 %AHRS rotation from veh to nav: [[0.196036,0.969529,0.146913],[-0.980383,0.190652,0.050015],[0.020481,-0.153836,0.987884]]ZH?@a??K_Kg?? ?@ÿ ?iZ!@IZQw];XY5qBy=IiMb@Mb@Mb@ 9q= ףp?Mb?/$Y ?y<@ ^A)@YzAbDVDkyA%8=ٔb;Q->9Y=fFybD9E>Q 5 4X?Q 9 4>)WBY  ?Q E :yQ I?CI ;i ;zɥ4yɮAjhAEDNOT Ignoring new targets: 51.75 m.bhARhM kZhM k] ProNav: ac range: 51.752632 m, nav range: 49.016293 m, bearing: 277.175484 deg, approach rate: -0.543460 m/s, LOS rate: -0.051373 deg/s, cmd heading: 278.922413 deg, new cmd heading: 278.853821 deg. Bh] eHeadingCmd: 4.866917 target range: 51.752632 and range: 52.00 m.heɽ@ha*ha"hi higififqfuBdqdqdyjdyZd}r@%5Bɢ%xs)I M=iI)M7xIIiMPiUGHUˌ;])=I]ɽ@IYԩ%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256697=C@A @A@A@AE5# E5!E5'E1"E5[;*E5:VE5'4ZE1a=@a=@a=@a=@^Aa A zA fA A .AI I O >j,S?A:@:p@:Yٱ:L"Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.508532 JAHRS rotation from veh to nav: [[0.194582,0.969115,0.151505],[-0.980700,0.189205,0.049272],[0.019085,-0.158168,0.987228]]:H??d?a7?+:??@>Ŀ^?i:@I:X];8YR_ByRIXZ@AbD^VD^fyfCͽ%f_=ٔfy;Q-f>9j ?Yj ?=jfFyjjDj4En>ptQ 5z4vœ?Q 9z4vC)vWBYxyzꮿQ I~?vCIv[:iv;vϥ4yɮAjh)5DNOT Ignoring new targets: 51.75 m.bh1Rh=gZh=gM ProNav: ac range: 51.752632 m, nav range: 48.816422 m, bearing: 277.156906 deg, approach rate: -0.543033 m/s, LOS rate: -0.050683 deg/s, cmd heading: 278.853811 deg, new cmd heading: 278.797847 deg. BhM" UHeadingCmd: 4.865941 target range: 51.752632 and range: 52.00 m.hUɵ@hQ*hQ"hQ hQgQfYfYfYdadadajdaZded@颕7BɢW) =i))顙iǾPiFhz;(=Iɵ@I5H@9 @9@=0@9@EfA@EgABA<B%>BCBFIBBB =BBDB>w;B1E 9^Aq=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760799A ؟AI I O >a EU ( EU -EQ EQ "EU `;*EU K;VEQ ZEQ BEU R9z"?Yz"?=zfFyzrD~E~>Q 5 4Ɯ?Q 9 4I)WBY y Q I?2CI :i:ץ4y!ɮ%A!=B*** querying acoustic contact ***i9 i9jhIMDNOT Ignoring new targets: 51.75 m.bhIRhU jZhU je ProNav: ac range: 51.752632 m, nav range: 48.592850 m, bearing: 277.135942 deg, approach rate: -0.543043 m/s, LOS rate: -0.051153 deg/s, cmd heading: 278.797858 deg, new cmd heading: 278.734678 deg. Bhel mHeadingCmd: 4.864838 target range: 51.752632 and range: 52.00 m.hm@hi*hi"hq hqgqfqffdddjdZd@-9Bɢ-2)a ex=ia)mqiiHPiil;,=I@IBDAT read: Rx Time:04:13:01.5026 TRx dataTimestamp_ set to:1761538382.882064checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021123I@@ @@1@q^Aԡ A I! I9 E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268522OM >͌, S?A2\@2*@2ٱ2+ :AHRS rotation from veh to nav: [[0.191325,0.968286,0.160678],[-0.981389,0.185969,0.047876],[0.016476,-0.166847,0.985845]]2H U}?2??g ?@1?1ߐ?@A[ſ ?i2\@I2Ye];2CY^TBy^Iyi}Mb@Mb@Mb@yyyy y9}On? rhY}?y}}C}A}@ y)}x@yY}(AbDVDNy%?=ٔ;Q->9Y=fFy{DE>Q 54ʜ?Q 94'P)WBY?Q E:yQ I?SCIa:i:ޥ4E# EE*E"E[;*Ej:VE(N4ZEa@a@a@a@yBɮ5AEjhDNOT Ignoring new targets: 51.75 m.bhRhfLZh%fL- ProNav: ac range: 51.752632 m, nav range: 48.338257 m, bearing: 277.116832 deg, approach rate: -0.592072 m/s, LOS rate: -0.044675 deg/s, cmd heading: 278.734665 deg, new cmd heading: 278.677034 deg. Bh5G=HeadingCmd: 4.863832 target range: 51.752632 and range: 52.00 m.h=@h9*h9"h9 h9g9fAfAfEBdAdIdIjdIZdM @}:Bɢ}) N=i)1顁iPi`%;#=I@IUO@Q @Y@]4@aԱDAT read: 04:13:01.5026 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 417,-0.34,-1.467,-3.097,-1.085,-1.534, PHS= 0.170,-1.518, 0.405, RAW= 156.4, 10.4, CAL= 156.4, 11.3, ROT= 353.6, -11.3 Ygot valid direction response: 04:13:01.5026 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 417,-0.34,-1.467,-3.097,-1.085,-1.534, PHS= 0.170,-1.518, 0.405, RAW= 156.4, 10.4, CAL= 156.4, 11.3, ROT= 353.6, -11.3 PDAT read: Bearing 92.2, -6.9 (Local) ~Local bearing/azimuth received: Bearing 92.2, -6.9 (Local) DAT read: Range 11 to 50 : 50.6 m (Round-trip 67.5 ms) speed 0.5 m/s *DAT read: user:112>  BDAT read: Tx time:04:13:02.6309  $Ping request sent. x_?YfJB )BI{.>iM¿)\>R.@9>R.@ I>)|@IIq/R?`?$)? "?)?9IiiI}:publishing transmit ping time }Fpublishing direction and range infoyO!/?~j<>x_?Y )Ii )Iq/R?`?$)? )Ii^Am2&=AqAqBy B} CB} IB} BB} =By By B} w;B} 0EA I I O >! ,S?A2I@2@2 |ٱ2/ :AHRS rotation from veh to nav: [[0.189881,0.967886,0.164747],[-0.981686,0.184527,0.047360],[0.015439,-0.170722,0.985198]]2HN?`? m?i???N?`;ſ@?i2I@I2JR];2CY^WBy^I fp9 Y = fFy D |E>9Q 5E4=8Μ?Q 9E4=V)=WBYAyE:Q IM?=pCI=$:i=:=S4yQɮUAQiiPS?AJinIBRinIBjiw@bg2H@$ҫb+#@RO!/?~j<>x_?ZiibiIj^Tv@n\HZ:t&@ZtBՌ?Ԑ#06?2iB:i@"i>m{?*iWBi-Bi>m{?i>iBis@BiX@ addTargetRange:: Added new target pos. range: 50.599998 m, deltaT: 3.532137 s, deltaX: -1.400002 m, approachRate: -0.396361 m/s, rangeRepo size: 4  Added new target pos. range: 50.358345 m, bearing: 276.575166 deg, lat: 36.779384 deg, lon: -121.859563 deg, deltaT: 3.532137 s, deltaX: -1.394287 m, approachRate: -0.394743 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 50.36 m.bhRhZh ProNav: ac range: 50.358345 m, nav range: 48.112827 m, bearing: 276.703521 deg, approach rate: 0.000000 m/s, LOS rate: -0.044675 deg/s, cmd heading: 278.677046 deg, new cmd heading: 278.624088 deg. BhHeadingCmd: 4.862908 target range: 50.358345 and range: 50.60 m.h@h*h!"h! h!g!f!f)f)d)d)d)jd5LI@Zd5 ?额@5=Q^Am $=ԁ A .AI I O >H,qS?A:@:ܜ@:pٱ:G1 BAHRS rotation from veh to nav: [[0.188384,0.967924,0.166239],[-0.981986,0.183114,0.046622],[0.014686,-0.172027,0.984983]]:H?:? RG? ml`Cp?ާ??ƿ?i:@I:y];:CYJRByJIIN=)N4=iMb@Mb@Mb@ 9V-?Mb?Mb`Y?y<A @)^AYAbD5VD5fyEiּ%EF=ٔE :Q-M>9M ?YM ?=MfFyMDUrE>Q 54Ҝ?Q 94\)WBY?Q E:y:Q I?CIb;iT:4yBɮjAEQjhYeDNOT Ignoring new targets: 50.36 m.bhaRheޏZheޏ} ProNav: ac range: 50.358345 m, nav range: 47.853302 m, bearing: 276.677095 deg, approach rate: -0.614296 m/s, LOS rate: -0.062890 deg/s, cmd heading: 278.624098 deg, new cmd heading: 278.544390 deg. Bh},}HeadingCmd: 4.861516 target range: 50.358345 and range: 50.60 m.h@h*h"h hgfffBdddjdZd@J?>Bɢv) =i)i9APi>|;)#=I@IC@ @@/@ԁE EE*E"E*Ex:VE(N4ZEa@a@a@a@ԩ^Al"=A I I O% > ,cBT?AFJٕ@FԜ@Fy/fٱFϡ2 NAHRS rotation from veh to nav: [[0.187368,0.967835,0.167895],[-0.982189,0.182148,0.046114],[0.014049,-0.173545,0.984726]]FH??@}?nP?`=? Ō?6ƿ߂?iFJٕ@IFd];FCYVTByVIbDbVDbyjZ<%jR=ٔj:Q-j>9lYl=nfFynDrz.Er>tQ 5z4vu֜?Q 9z4vb)vWBYxyz\Q Iz?vCIv:iv:vD4yɮUAjh)-DNOT Ignoring new targets: 50.36 m.bh)Rh5Zh5E ProNav: ac range: 50.358345 m, nav range: 47.625587 m, bearing: 276.653958 deg, approach rate: -0.625522 m/s, LOS rate: -0.063860 deg/s, cmd heading: 278.544376 deg, new cmd heading: 278.474633 deg. BhEN/MHeadingCmd: 4.860299 target range: 50.358345 and range: 50.60 m.hM@hI*hI"hI hQgQfQfQfYdYdYdYjdaZdek?颍?BɢO)َ9 h*=i)T顑iXPi!!l;3$=I@IԹBBBIBrBBBBB"w;B0EU@@Q @Q@U/@Q^AuC"= A I I O >D D <E , E =E 'E "E c;*E ;VE '4ZE BE tWٱ2ѷ2 :AHRS rotation from veh to nav: [[0.186819,0.967893,0.168170],[-0.982306,0.181756,0.045153],[0.013137,-0.173630,0.984723]]2H???o`C? >??9ƿڂ?i2ԕ@I2Z];2CYBaByBIJ@AHbDJVDJyR=%VM=ٔV;Q-V>9XYX=ZfFyZDZɸEZ>\Q 5b4^ڜ?Q 9f4^i)^WBYdyfnQ If?^CI^z:i^:^;4yhɮnAlzB*** querying acoustic contact ***ix ixjh DNOT Ignoring new targets: 50.36 m.bh Rh Zh  ProNav: ac range: 50.358345 m, nav range: 47.382069 m, bearing: 276.629135 deg, approach rate: -0.609877 m/s, LOS rate: -0.062487 deg/s, cmd heading: 278.474626 deg, new cmd heading: 278.399774 deg. Bh%+%HeadingCmd: 4.858993 target range: 50.358345 and range: 50.60 m.h%|@h)*h)"h) h)g)f)f1f1d1d1d9jd9Zd= ?-@Bɢ54])1 ]=iY)]⵼YYi]OieKe|;e '=Ie|@IiT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.uB@y @y@}/@@gA@cA9^A #=i A ؟AI I O >U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756025,HKT?A4<ɰ; 6͕@6Ȝ@6Hٱ623 >AHRS rotation from veh to nav: [[0.186018,0.967933,0.168831],[-0.982471,0.181102,0.044201],[0.012208,-0.174094,0.984653]]6Ho?M?B?fp`Z.?@{?@U?HƿG?i6͕@I6yw];6CYjoByjI lli]Mb@Mb@Mb@YYYY Y9]Zd;?Mb`?:v?Y]?y];]T<]QA]@ Y)]@YY]AbDuVDufy=%==ٔ ;Q->9"?Y"?=fFyDE>Q 54ޜ?Q 94o)WBY?Q E:y5Q I?CI7:i:4E$ EE)E"Eg\;*E:VEFA4ZEa@a@a@a@yBɮnAjhDNOT Ignoring new targets: 50.36 m.bhRh Zh   ProNav: ac range: 50.358345 m, nav range: 47.123093 m, bearing: 276.604374 deg, approach rate: -0.595876 m/s, LOS rate: -0.057285 deg/s, cmd heading: 278.399767 deg, new cmd heading: 278.325076 deg. BhBHeadingCmd: 4.857689 target range: 50.358345 and range: 50.60 m.h0r@h*h"h hgfffBdddjdZd ??BBɢ;) =i)Ci؇Oiv; (=I 0r@I qA@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005975ԡ^A$=B% &>B! B% IB% mBB% =B! B! B% %w;B% 0E A I! I9 OE >,eT?APYByIbD-VD- yE°=%EO=ٔEQ-E>9IYI=MfFyMDMEU>QQ 5e4U✊?Q 9e4Uu)UWBYayaQ Ie?UCIU;iUw:U4yuBɮuAuEjhDNOT Ignoring new targets: 50.36 m.bhRh텺Zh텺 ProNav: ac range: 50.358345 m, nav range: 46.886517 m, bearing: 276.581515 deg, approach rate: -0.602854 m/s, LOS rate: -0.058544 deg/s, cmd heading: 278.325072 deg, new cmd heading: 278.256150 deg. Bh checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258016}HeadingCmd: 4.856486 target range: 50.358345 and range: 50.60 m.h}Uh@hy*hy"hy hygyfffdddjdZdS@颍CBɢa) =i)em顙idqOi Kx; ]-=IUh@IE, EEE"Ec;*E:VEZEBEa2EaJE@OAqyA.AIIO ?Y4", ?T?A2RΕ@2 ɜ@2eٱ2- :AHRS rotation from veh to nav: [[0.186064,0.968714,0.164235],[-0.982494,0.181855,0.040433],[0.009301,-0.168883,0.985592]]2H???p`G?௳? ?ſ?i2RΕ@I2];2CYBByBIIFt>)FC=Nchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.766145i}Mb@Mb@Mb@yyyy y9}5^I ?Mbp~jt?Y}?y}}<}$Ay }x@)}AyY}AbD VD:2y+=%=ٔ5;Q->9 ?Y ?=fFyD8E>Q 54眊?Q 94~)WBY%?Q E:yCQ I?9CI ;i? ;4yɮAjhDNOT Ignoring new targets: 50.36 m.bhRh4oZh 4o ProNav: ac range: 50.358345 m, nav range: 46.551018 m, bearing: 276.552120 deg, approach rate: -0.592450 m/s, LOS rate: -0.052282 deg/s, cmd heading: 278.256142 deg, new cmd heading: 278.167322 deg. Bh%HeadingCmd: 4.854936 target range: 50.358345 and range: 50.60 m.h%[@h!*h!"h! h!g!f)f)f-Bd1d1d1jd1Zd5@eDBɢeW)a eH>ii)m7qqiu-Oiuж}e=<}%#3=I}[@IybE:4jEA84rEͰ/EM= EM(EM*EI"EMs;*EM;VEM(N4ZEIa]@a]@a]@a]@*:iIIIUBDAT read: Rx Time:04:13:05.0995 ]TRx dataTimestamp_ set to:1761538386.417168echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.020507% B@!  @! @% /@! 1 B B B IB BB B B B #w;B BABABABE =BE =CE.T5I ^Ae +,=yA؟AIIO?*,`T?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.270146YByHIbD%VD%y= >%="=ٔEQ-E>9M"?YM"?=UfFyUDUE]>aQ 5u4e윊?Q 9u4eQ)eWBYqyyQ I}?e_CIe:;ie5i)ai0Oi<3 8=I!P@I    checking for new query: numPingsReceived=0, elapsed TxPingTime=3.5255209 L@  @ @ 34@ @ @ hAY ^A .=DAT read: 04:13:05.0995 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 416, 0.09, 0.527,-1.084, 0.895, 0.489, PHS= 0.141,-1.527, 0.363, RAW= 156.2, 11.4, CAL= 156.3, 12.7, ROT= 353.7, -12.7 Ygot valid direction response: 04:13:05.0995 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 416, 0.09, 0.527,-1.084, 0.895, 0.489, PHS= 0.141,-1.527, 0.363, RAW= 156.2, 11.4, CAL= 156.3, 12.7, ROT= 353.7, -12.7 PDAT read: Bearing 94.4, -8.1 (Local) ~Local bearing/azimuth received: Bearing 94.4, -8.1 (Local) DAT read: Range 11 to 50 : 48.3 m (Round-trip 64.4 ms) speed 0.5 m/s *DAT read: user:113> BDAT read: Tx time:04:13:06.1809 $Ping request sent.itÿ#۹>!z.@%K>.@ b>)@Ibvs8R?) ?' #\? !?);LIi0ib=:publishing transmit ping time=Fpublishing direction and range infoy]ENQ?BUgF#?YA )Ii )Ivs8R?) ?' #\? )IiAIIO?3,T?AE.3 E./E,E,"E.j;*E.Y;VE,ZE,a2@a2@a6@a6@Vѕ@VY̜@V쌳ٱVW' rAHRS rotation from veh to nav: [[0.186455,0.969539,0.158833],[-0.982448,0.183098,0.035647],[0.005479,-0.162692,0.986662]]VH ?`w?`T? 7po?\@? qv?`Ŀ?iVѕ@IVކ];TYByZI ԉi]Mb@Mb@Mb@YYYY Y9]|?5^?~jtxZd;O?Y] ?y]Ļ]j<]A]@ ]@)YYY]AbDVD2y5=%=ٔ;Q->9Y=fFyD[":E>Q 54?Q 9 4g)XBY  ?Q E :y Q I ?CI|;iS;&4yBɮEAEi)i-T?AJi-G@BRi-G@Bji-h~@b-!NG@ER#"%@R-]ENQ?BUgF#?Zi-i0bi-bj-+93R@-GK '@Z-Yp:"?vC ,?2i-n9:i-*@"i-X?*i-RBi-ȗBi)i-Ri-җBi-:Bi-]@ addTargetRange:: Added new target pos. range: 48.299999 m, deltaT: 3.788002 s, deltaX: -2.299999 m, approachRate: -0.607180 m/s, rangeRepo size: 4  Added new target pos. range: 48.069561 m, bearing: 276.620038 deg, lat: 36.779384 deg, lon: -121.859571 deg, deltaT: 3.788002 s, deltaX: -2.288784 m, approachRate: -0.604219 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 48.07 m.bhRhZh ProNav: ac range: 48.069561 m, nav range: 46.647522 m, bearing: 276.390488 deg, approach rate: 0.000000 m/s, LOS rate: -0.050100 deg/s, cmd heading: 278.086863 deg, new cmd heading: 277.992695 deg. Bh=HeadingCmd: 4.851888 target range: 48.069561 and range: 48.30 m.h=B@hA*hA"hA hAgAfAfIfMIBdIdIdIjdU`f&H@ZdU`J?ԹGBɢ3 ) n>i)iNi4<^?=IB@IB@ @@2@ByByB}4IB}BByByByB}w;B}0E^A ;6= A! I1 IA OM >=q:,`T?A prC|YUڀBeGy]|I}(hA9(hAYAbDVDy0>%E=ٔQ->9 Y = fFy DE>Q 5%4x?Q 9%4J)XBY!y!Q I%?CI:i;-4y5Bɮ5A5EUB*** querying acoustic contact ***iQ iQjhYeDNOT Ignoring new targets: 48.07 m.bhaRhenZhenDizDmAAEu$ Eu'Eu*Eq"Eug\;*Eu";VEu(N4ZEqBEu0i)0.i,/OiW<@C=I9@I!C@ @@/@T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.a^AC;=y A .AI I O >,TA,ɒU?AY~By~IiiMb@Mb@Mb@ 9+?Mbp~jt?Yv>y<A x@)AYAbDVDJyO=%O=ٔQ->9 ?Y ?=fFyDE>Q 54?Q 94[)XBY>Q E:yQ I?CI:i:44yɮ/Ajh%DNOT Ignoring new targets: 48.07 m.bh!Rh%WZh%W5 ProNav: ac range: 48.069561 m, nav range: 46.224918 m, bearing: 276.351720 deg, approach rate: -0.495786 m/s, LOS rate: -0.047175 deg/s, cmd heading: 277.931681 deg, new cmd heading: 277.875851 deg. Bh==HeadingCmd: 4.849849 target range: 48.069561 and range: 48.30 m.h=1@hA*hA"hA hAgAfAfIfMmBdIdIdQjdQZdU q?}IBɢ@C:) >i)B1顉iOiw^<F=I1@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.996233-?@) @)@-/@)@5>@1ԉE% EqE'E"EO];*E*;VE'4ZEa@a@a@a@Թ^AUB=A]>A]? checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247995A ؟AI I O >b~G,HnU?AB'>BBlIB̀BBBBDBw;B0EB@B~ۜ@B _ٱB+ ( JAHRS rotation from veh to nav: [[0.188273,0.969025,0.159823],[-0.982111,0.185198,0.034058],[0.003405,-0.163376,0.986558]]BHS? A?u?sm?@p?k? Ŀ?iB@IBo];BCYRByRIIV;>)V ?bDZVDZβy>%W=ٔ ߲;Q- >9 "?Y "?=fFyD^;E>9Q 5E4=?Q 9E4=H)=(XBYIyMӰQ IM?=CI=:i=:=N;4yQɮUW AQjhDNOT Ignoring new targets: 48.07 m.bhRh\Zh\ ProNav: ac range: 48.069561 m, nav range: 46.034840 m, bearing: 276.333110 deg, approach rate: -0.490379 m/s, LOS rate: -0.048209 deg/s, cmd heading: 277.875864 deg, new cmd heading: 277.819804 deg. ԹBhWHeadingCmd: 4.848870 target range: 48.069561 and range: 48.30 m.h)@h*h"h hgfffdddjdZd5 ?}JBɢ}$;) %>i)lӨ顁iOiA<Q=I)@ImA@i @i@m/@i)checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500100^AU-B=QE- E"E)E"Ed;*E;VEFA4ZEBE=y M,^J9U?A61@6@69d ٱ6+ JAHRS rotation from veh to nav: [[0.189173,0.968346,0.162848],[-0.981941,0.186194,0.033509],[0.002127,-0.166246,0.986082]]6H@6??0?l`3?(?@la?Gſ?i61@I6ԋ];6~CYjByjIbDVD]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754524ym<%mD=ٔ}BH;Q->9Y=fFyD ;E>Q 54?Q 94)3XBY y Q I?CI]#i):顩iKPiǻgz <גW=I @Iԁy@y @y@y@yԱchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.003976^A dO=E % E 8E E "E O];*E  ;VE ZE a @a @a @a @ Iy I O >*T,pSU?A2I@2@2 ٱ2a/ :AHRS rotation from veh to nav: [[0.189904,0.967474,0.167124],[-0.981802,0.186940,0.033436],[0.001107,-0.170433,0.985369]]2HN?@?Td?@j@??!R?ſ$?i2I@I2u];2CYB(ByBIiEMb@Mb@Mb@AAAA A9E!rh?yEtE%mF=ٔme";Q-u>9qYq=ufFy}D}:E}>Q 54?Q 94l)?XBY>Q E:yܱQ I? CI ;iq ;I4yɮ0 AjhDNOT Ignoring new targets: 48.07 m.bhRhLZhL ProNav: ac range: 48.069561 m, nav range: 45.643684 m, bearing: 276.295904 deg, approach rate: -0.498319 m/s, LOS rate: -0.044719 deg/s, cmd heading: 277.756609 deg, new cmd heading: 277.707705 deg. BhHeadingCmd: 4.846914 target range: 48.069561 and range: 48.30 m.h@h*h"h hgfffBdddjdZdΜ@-LBɢ-RQ<)1 5>i1)511i=Pi=׷=ĵ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512611 aZ,^mU?AB`@B.@BظٱBOr2 JAHRS rotation from veh to nav: [[0.190274,0.966865,0.170197],[-0.981731,0.187375,0.033090],[0.000103,-0.173384,0.984854]]BH Z??? Wj@?4? U?@n1ƿ`?iB`@IBh];BCYR"ByRI TTbD^VD^y%%%O=ٔ-&;Q-->9)Y)=-fFy-D5z:E5>9Q 5E4=h?Q 9E4=)=JXBYIyMʱQ IM?=$CI=:i=9:=P4yQɮU_ AQjhyDNOT Ignoring new targets: 48.07 m.bhRh<Zh< ProNav: ac range: 48.069561 m, nav range: 45.465942 m, bearing: 276.279765 deg, approach rate: -0.451005 m/s, LOS rate: -0.041110 deg/s, cmd heading: 277.707705 deg, new cmd heading: 277.659101 deg. BhHeadingCmd: 4.846066 target range: 48.069561 and range: 48.30 m.h@h*h"h hgfffdddjdZdK@MBɢ^<) >i)v頼i.jQi󷿉2 <8a=I@IE) E-%E)E)"E)*E-;VE)ZE)BE-I a,]U?A Y~0By~I-only read 0 of 1 data item for BIT error. Device response is::TS,00050308012853,35.0, 0.0,1494.0, 0 a-@a- a-@a- a-@a- a-@a- bD5VD5yE=%EH=ٔMQ-M>9IYI=UfFyUDUEU>YQ 5e4]8?Q 9e4]β)]UXBQ Am+:YiQ Em:yiQ Im?];CI]I;i]>]fV4yuBɮ& A EB*** querying acoustic contact ***i ijhAEDNOT Ignoring new targets: 48.07 m.bhARhM94ZhM94} ProNav: ac range: 48.069561 m, nav range: 45.281929 m, bearing: 276.262923 deg, approach rate: -0.428646 m/s, LOS rate: -0.039391 deg/s, cmd heading: 277.659102 deg, new cmd heading: 277.608371 deg. Bh}EغHeadingCmd: 4.845180 target range: 48.069561 and range: 48.30 m.h @h*h"h hgfchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.016119ffdddjdZdB@NBɢG&<)  >i ) qi$Ri#<Rd=I @IE5& E5E5*E1"E58^;*E5&:VE5(N4ZE1a=@a=@a=@a=@J@ @@h4@ԡ^Am 5[= I I O >e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270285B A p<B (>B B IB BB B B B w;B 0E$g,:U?AB@B@B;ٱB7 JAHRS rotation from veh to nav: [[0.190716,0.965846,0.175412],[-0.981643,0.188026,0.031986],[-0.002088,-0.178292,0.983975]]BH_i?5? s?i;?`{`?a`Eƿ|?iB@IBt];BCLYv6ByvIbD|VD|y <% N=ٔ;Q->9Y=fFyD:E%>!Q 5-4% ?Q 9-4%r)%`XBQ A5 :Y1Q E5:y5Q I5?%RCI%:i%N?%Z4yAɮE AAjhamDNOT Ignoring new targets: 48.07 m.bhiRhuKZhuK ProNav: ac range: 48.069561 m, nav range: 45.102959 m, bearing: 276.246239 deg, approach rate: -0.476003 m/s, LOS rate: -0.044551 deg/s, cmd heading: 277.608367 deg, new cmd heading: 277.558115 deg. BhHeadingCmd: 4.844303 target range: 48.069561 and range: 48.30 m.h@h*h"h hgfffdddjdZd@"4 @PBɢkg<) >i)i RiK-R<p`i=I@I?@ @@/@@=@=DAT read: 04:13:08.6467 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 420,-0.18, 0.998,-0.586, 1.380, 1.021, PHS= 0.079,-1.562, 0.315, RAW= 156.6, 13.1, CAL= 157.0, 14.8, ROT= 353.0, -14.8 Ygot valid direction response: 04:13:08.6467 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 420,-0.18, 0.998,-0.586, 1.380, 1.021, PHS= 0.079,-1.562, 0.315, RAW= 156.6, 13.1, CAL= 157.0, 14.8, ROT= 353.0, -14.8 PDAT read: Bearing 96.7, -9.8 (Local) ~Local bearing/azimuth received: Bearing 96.7, -9.8 (Local) DAT read: Range 11 to 50 : 46.2 m (Round-trip 61.7 ms) speed 0.3 m/s *DAT read: user:114> %BDAT read: Tx time:04:13:09.7309 -$Ping request sent.-.@ j>^/@  A>)'@I ALNj?pɼ?yڗ? X#?)}jI5i A:publishing transmit ping time)Fpublishing direction and range infoy2U.?ȚX)l39Y?Y )Ii )ILNj?pɼ?yڗ? )IiY^AuS^=A}>A}>IIO>E50 E53E1E1"E5Jg;*E5t ;VE1ZE1BE5;ٱ2: FAHRS rotation from veh to nav: [[0.190815,0.965280,0.178396],[-0.981622,0.188174,0.031767],[-0.002906,-0.181179,0.983446]]2Hl???ri?C?;g0ǿ`cx?i2@I24];2~CYr1ByrIYI=)=bDVDfyes%m6=ٔ=:Q->9Y=fFyDe9E>Q 543 ?Q 94)lXBQ A9Y!Q E%y:y%Q I%?mCIj:i?J_4y)ɮ-# A)iix U?AJi7BRi7Bji@bιCF@7rN)}'@R2U.?ȚX)l39Y?Zi5bi Ajb#@]EMR(@Zl?&w0ܗڌD?2i/:i@"iZʞ?*i!ABiBiX?i!AiBi0Bi4v@ addTargetRange:: Added new target pos. range: 46.200001 m, deltaT: 3.532198 s, deltaX: -2.099998 m, approachRate: -0.594530 m/s, rangeRepo size: 4  Added new target pos. range: 45.979836 m, bearing: 276.855748 deg, lat: 36.779386 deg, lon: -121.859564 deg, deltaT: 3.532198 s, deltaX: -2.089725 m, approachRate: -0.591622 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 45.98 m.bhRhZh ProNav: ac range: 45.979836 m, nav range: 44.248383 m, bearing: 276.562665 deg, approach rate: 0.000000 m/s, LOS rate: -0.044551 deg/s, cmd heading: 277.558124 deg, new cmd heading: 277.494087 deg. BhHeadingCmd: 4.843185 target range: 45.979836 and range: 46.20 m.h`@h*h"h hgfffdddjdG@ZdKp?-QBɢ-N<)1 5x>i1)5 11i5Ri=Q=At,nU?A2Z@2(@2u;ٱ2: :AHRS rotation from veh to nav: [[0.190510,0.965286,0.178686],[-0.981678,0.188019,0.030930],[-0.003740,-0.181305,0.983420]]2Hb??@0?`i?)?Tn 4ǿ,x?i2Z@I2w];2CYB%ByBIauau auau auau a}a} i}Mb@Mb@Mb@yyyy y9}Fx?Mbp{Gz?Y}>y}}#<} A}@ }A)}AyY}AbDVDy_~%Y=ٔ;Q->9 ?Y ?=fFy D`E>Q 54k?Q 94)oXBQ AT:Y>Q E;y5Q I?CI<;iQ;e4yɮ AjhDNOT Ignoring new targets: 45.98 m.bhRh/Zh / ProNav: ac range: 45.979836 m, nav range: 44.106808 m, bearing: 276.549434 deg, approach rate: -0.410059 m/s, LOS rate: -0.038447 deg/s, cmd heading: 277.494084 deg, new cmd heading: 277.454263 deg. BhӺ%HeadingCmd: 4.842490 target range: 45.979836 and range: 46.20 m.h%@h!*h!"h) h)gfff BdddjdZd ?SBɢF<)  (>i ) ,  i aSih<Nn=I@I@ @@@BBBIB8BB =BBBw;B0EBaBaBaBe =Be =CeŔ4)^AXh=A I I O >Q {,U?A:@:]@:>;ٱ:: BAHRS rotation from veh to nav: [[0.190534,0.965266,0.178769],[-0.981669,0.188246,0.029833],[-0.004856,-0.181176,0.983439]]:H@hc?u??`is??bs0ǿ@Tx?i:@I:];:}CYJ"ByJIbDRVDR02yZc%Z[=ٔ^D;Q-^>9\Y`=bfFyb'Db(8Eb>dQ 5j4f?Q 9j4fj)fsXBYlyn4Q In?fCIf/;if];f l4yrBɮr Atjh DNOT Ignoring new targets: 45.98 m.bhRh+Zh+- ProNav: ac range: 45.979836 m, nav range: 43.958809 m, bearing: 276.535507 deg, approach rate: -0.397718 m/s, LOS rate: -0.037552 deg/s, cmd heading: 277.454251 deg, new cmd heading: 277.412329 deg. Bh-,κ5HeadingCmd: 4.841759 target range: 45.979836 and range: 46.20 m.h5@h1*h1"h1 h1g1f1f9f9dAdAdAjdAZdE  ?uTBɢulD<)q u>iq)}Ԓyyi}Si(<&r=I@IE, E=EE"Ec;*E;VEZEBEtԹ !,dV?Aɰ4<2@2P@2x;ٱ2U= :AHRS rotation from veh to nav: [[0.190766,0.964695,0.181580],[-0.981618,0.188587,0.029356],[-0.005924,-0.183842,0.982938]]2Hk??`>?`ii@#?@~?Cx"ǿ`:t?i2@I2j];2CYBByBIi Mb@Mb@Mb@     9 (\?y t<  A @ tA)  Y (AbD}VD}k1y@%==ٔP";Q->9"?Y"?=fFy0D:E>Q 54?Q 94)qXBY>Q E;yQ I?CIv:i<:s4yɮ AB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 45.98 m.bhRhkZhk ProNav: ac range: 45.979836 m, nav range: 43.791359 m, bearing: 276.513399 deg, approach rate: -0.387731 m/s, LOS rate: -0.051385 deg/s, cmd heading: 277.412341 deg, new cmd heading: 277.345765 deg. Bh  HeadingCmd: 4.840597 target range: 45.979836 and range: 46.20 m.h +@h *h "h  h gfff BdddjdZd% ?MVBɢM<)I M>iQ)U QQiUSi]]L<]KCw=Ie+@IaT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ԩM@ @@3@E-F E-@E-(E)"E->{;*E-M;VE-c44ZE)a5@a5@a5@a5@^Anp=A I I1 U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748051O] >A A B B B IB BBB B B B *w;B 0E ),<"V?AF]@F+@Fv;ٱF6B RAHRS rotation from veh to nav: [[0.190987,0.963606,0.187049],[-0.981569,0.188813,0.029542],[-0.006850,-0.189243,0.981906]]FHFr?`? 7?i+?`@?|@!9ȿk?iF]@IF];FCYVByVIbDbVDbyj%jW=ٔj;Q-j>9lYl=rfFyr8Dr :Er>tQ 5z4vl?Q 9z4v)voXBY|y~Q I~?vCIvL;iv;v9z4yɮ C A jh)5DNOT Ignoring new targets: 45.98 m.bh1Rh5mZh=mM ProNav: ac range: 45.979836 m, nav range: 43.643677 m, bearing: 276.493720 deg, approach rate: -0.388561 m/s, LOS rate: -0.051954 deg/s, cmd heading: 277.345760 deg, new cmd heading: 277.286521 deg. BhMUHeadingCmd: 4.839563 target range: 45.979836 and range: 46.20 m.hUݚ@hQ*hQ"hQ hQgQfYfYfYdadadajdaZde?颕XBɢ= <) >i)͍顙iISiȸ<{=Iݚ@I5B@1 @1@54@1checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000435!G=liAQ}9}liAY}&A^A]@p=D5<D5<E=X E=?E=)E9"E=Ʌ;*E=;VE=FA4ZE9BE=V,$9qYy=}fFyADE>QQ 5m4?Q 9m4.)mXBYiyiQ Iu?CI@;if;J4y}Bɮ} A}EjhDNOT Ignoring new targets: 45.98 m.bhRhaZha ProNav: ac range: 45.979836 m, nav range: 43.464584 m, bearing: 276.469675 deg, approach rate: -0.366207 m/s, LOS rate: -0.049370 deg/s, cmd heading: 277.286528 deg, new cmd heading: 277.214096 deg. BhHeadingCmd: 4.838299 target range: 45.979836 and range: 46.20 m.hXӚ@h*h"h hgf f f d ddjdZd]@=ZBɢE3;)  >i )   i Si 򸿉X<+=IXӚ@II)))yN@ @@4@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502926ԡ ^A Pz=A >A >EE G EE AEA EA "EE &|;*EE ;VEA ZEA aM @aM @aM @aM @A I I O >,HWV?A2n@2<@2Rv<ٱ2J >AHRS rotation from veh to nav: [[0.190873,0.962245,0.194042],[-0.981580,0.188765,0.029473],[-0.008268,-0.196094,0.980550]]2Hn??@_?@i`v)? B.?ɿ `?i2n@I2߉];2~CYBByBIiUMb@Mb@Mb@QQQQ Q9UK7?~jtx?MbpYU>yU;UU AU@ UA)U-AQYUAbDuVDuky}%}O=ٔol;Q->9Y=fFyIDE>Q 54D?Q 94)jXBY>Q E;yҮQ I?CIH:i] ; 4yɮaAjhDNOT Ignoring new targets: 45.98 m.bhRhlZhl ProNav: ac range: 45.979836 m, nav range: 43.313114 m, bearing: 276.451171 deg, approach rate: -0.422367 m/s, LOS rate: -0.051778 deg/s, cmd heading: 277.214101 deg, new cmd heading: 277.158395 deg. Bh#HeadingCmd: 4.837327 target range: 45.979836 and range: 46.20 m.ha˚@h*h"h hgff f ۀBdddjdZd@E\BɢE;)A M>>iI)MBBIB8BB =BBBXw;B1EI^AE|=ԁ Aq I I O >= BDAT read: Rx Time:04:13:12.1949 = TRx dataTimestamp_ set to:1761538393.728164= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008109$,pV?A06@6s@6}<ٱ6rJ >AHRS rotation from veh to nav: [[0.190060,0.962322,0.194460],[-0.981734,0.188045,0.028941],[-0.008717,-0.196408,0.980483]]6HS?V?` ?@]j??ځ#ɿ`?i6@I6];6}CYFByFIbDNVDNyVd%VZ=ٔZ:Q-Z>9XYX=^fFy^QD^E^>`Q 5f4b?Q 9f4b)bgXBYhyjQ Ij?bCIb:ib:b4ylɮnApjh DNOT Ignoring new targets: 45.98 m.bh Rh [Zh [e ProNav: ac range: 45.979836 m, nav range: 43.165825 m, bearing: 276.433216 deg, approach rate: -0.392441 m/s, LOS rate: -0.048002 deg/s, cmd heading: 277.158394 deg, new cmd heading: 277.104346 deg. DyzD}@AE? E:E(E"Et;*E$ ;VEc44ZEBEXi!)%!!i%TSi-0- <-_=I5Ú@I1ԑ@@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258962Թ^A Ae .AIi Iy O >,[V?A2@2@2G<ٱ2F :AHRS rotation from veh to nav: [[0.188892,0.963208,0.191183],[-0.981957,0.187052,0.027795],[-0.008989,-0.192983,0.981161]]2H-??x?@0lU? 9v?hȿe?i2@I2,];2CYBʀByBhIh5only read 2 of 4 data items for bottom velocity. Device response is::BS, +0, -9,A a5@a5 a5@a5 a5@a5 a5@a5 bD=VD=:yM%MA=ٔUj(:Q-U>9U ?YU ?=UfFyUYD]7E]>aQ 5m4e"?Q 9m4e6)ecXBQ Am+:YqQ Eu:yuQ Iu?eCIe:ie)>e4yyɮ}AB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 45.98 m.bhRh1ZZh1Z ProNav: ac range: 45.979836 m, nav range: 42.999386 m, bearing: 276.413034 deg, approach rate: -0.391780 m/s, LOS rate: -0.047690 deg/s, cmd heading: 277.104354 deg, new cmd heading: 277.043574 deg. BhHeadingCmd: 4.835322 target range: 45.979836 and range: 46.20 m.h@h*h"h hgfffdddjdZd(2 @-DAT read: 04:13:12.1949 LVL= 32752, 32753, 31730, 32755, AGC= 66, IDX= 418,-0.14,-0.509,-2.146,-0.090,-0.568, PHS= 0.161,-1.533, 0.434, RAW= 157.3, 10.2, CAL= 157.3, 11.1, ROT= 352.7, -11.1 Ygot valid direction response: 04:13:12.1949 LVL= 32752, 32753, 31730, 32755, AGC= 66, IDX= 418,-0.14,-0.509,-2.146,-0.090,-0.568, PHS= 0.161,-1.533, 0.434, RAW= 157.3, 10.2, CAL= 157.3, 11.1, ROT= 352.7, -11.1 PDAT read: Bearing 92.0, -9.5 (Local) ~Local bearing/azimuth received: Bearing 92.0, -9.5 (Local) DAT read: Range 11 to 50 : 44.8 m (Round-trip 59.8 ms) speed 0.4 m/s *DAT read: user:115> BDAT read: Tx time:04:13:13.2809 $Ping request sent.`Bɢ#)  T>i ) x# i6RiS<I@I!iX9Ŀ?5>/@K6>/@ aF>)@IaF ?6 ɫ?q? &?)L 6ItwiaF]:publishing transmit ping time]Fpublishing direction and range infoydX%?v뿿M?Y )Ii )I ?6 ɫ?q? )IiE1 E,E)E"E2h;*E;VEFA4ZEa@a@a@a@%B@) @)@)@)^AI AQ zAU fAA B A <B (>B B IB BB B B B uw;B !1EAy I I O >Ƕ,V?A2Lە@2֜@2<ٱ2D :AHRS rotation from veh to nav: [[0.187619,0.963941,0.188722],[-0.982196,0.185975,0.026544],[-0.009511,-0.190342,0.981672]]2H ??` (?%n ?`E.?z` ]ȿi?i2Lە@I2];2CYBƀByBdIbDJVDJ0yR%RU=ٔV:Q-V>9TYX=ZfFyZaDZ]EZ>\Q 5b4^-%?Q 9b4^)^_XBQ Af :YdQ Ef:yfia)eA센aaieRim=smĝ!a ,kV?A6ȕ@6Ü@6<ٱ6,nB >AHRS rotation from veh to nav: [[0.185404,0.964666,0.187205],[-0.982616,0.183856,0.025755],[-0.009574,-0.188726,0.981983]]6HP?@?W?q ?_?`+(ȿgl?i6ȕ@I6];4YFByFKIbDRVDRyZ½%^I=ٔb!9Q-f>9hYl=nfFyniDr>Er>tQ 5z4v'?Q 9z4vB)v\XBQ Az9YxQ Ez:yzQ I~?v6CIvP ;iv?v˝4yɮ}Ajh1EDNOT Ignoring new targets: 44.59 m.bhARhUWZh]W  ProNav: ac range: 44.586494 m, nav range: 43.353394 m, bearing: 276.277725 deg, approach rate: -0.395760 m/s, LOS rate: -0.047184 deg/s, cmd heading: 276.988213 deg, new cmd heading: 276.930709 deg. 9Bh HeadingCmd: 4.833353 target range: 44.586494 and range: 44.80 m.hӪ@h*h"h hgfffddd jd1Zd5@((?颅dBɢCû) v>i)΃顩it0Qi #<~=IӪ@I%A@! @!@%0@!aԑ^Aa E 4 E *E $E "E j;*E ;VE 4ZE a @a @a @a @IA IQ Oe >Թ ȵ,BV?A2г@2@21<ٱ2GnA >AHRS rotation from veh to nav: [[0.182884,0.965330,0.186259],[-0.983092,0.181334,0.025470],[-0.009188,-0.187768,0.982170]]2Hh??`W?|u`5??4тȿm?i2г@I2`];2~CYFByF,Ia a  a a aa aa iMb@Mb@Mb@ 9?~jt?MbY?y<A A)YbD-VD-y=%B=PExceeded connect timeout, disconnecting.ٔgQ->9Y=fFyrDOE>Q 5 4+?Q 9 4)QXBQ A T:Y (?Q E:yQ I?RCI{;i<;v4y)ɮ-GA)jhq}DNOT Ignoring new targets: 44.59 m.bhyRhӞZhӞԙ ProNav: ac range: 44.586494 m, nav range: 43.135166 m, bearing: 276.246976 deg, approach rate: -0.490244 m/s, LOS rate: -0.069427 deg/s, cmd heading: 276.930703 deg, new cmd heading: 276.837989 deg. Bh>HeadingCmd: 4.831734 target range: 44.586494 and range: 44.80 m.h@h*h"h hgfffBd1d1d1jd1Zd5 ?颭gBɢ?) ,=i)%i7Pi'ɹG%<|=I@IB)>BBIBBBBBBpw;B1E?@ @@o0@@>@>^A |=Ii I O > ,V?A2@2h@2a <ٱ2@ :AHRS rotation from veh to nav: [[0.179978,0.965982,0.185704],[-0.983633,0.178393,0.025352],[-0.008639,-0.187227,0.982279]]2H` ?T?"?@y`??] ǿn?i2@I2];2CYBByBIIF>)F>HJAbDNVDN02yvJ%vO=ٔv5Q-v>9xYx=zfFyzyD~E~>Q 5 4!/?Q 9 4)HXBY y ⭿Q I?jCI:i:4yɮAjhAEDNOT Ignoring new targets: 44.59 m.bhARhMFZhMFEe0 EeNEe)Ea"EeJg;*Ee;VEeFA4ZEaBEe&<7w=I@ImF@q @q@u3@q^A|=I1IYO}>I ,3 W?A2t@2B|@2<ٱ2A >AHRS rotation from veh to nav: [[0.176838,0.966400,0.186546],[-0.984206,0.175190,0.025417],[-0.008118,-0.188094,0.982117]]2H???~l?? {ȿ`m?i2t@I2];2|CYFzByFIi Mb@Mb@Mb@     9  rh?MbP? rhY  ?y : C 7A  A)  Y (AbD-VD-Ny5/%=E=ٔ=Q-=>9AYA=EfFyEDEEM>IQ 5U4Mp2?Q 9]4M)M?XBY] ?Q E]:y]ҲQ I]?MCIM ;iM ;M14ymϒBɮmAmE%B*** querying acoustic contact ***i! i!jh1UDNOT Ignoring new targets: 44.59 m.bhQRh]QZh]Qm ProNav: ac range: 44.586494 m, nav range: 42.723484 m, bearing: 276.201554 deg, approach rate: -0.521534 m/s, LOS rate: -0.045884 deg/s, cmd heading: 276.760877 deg, new cmd heading: 276.701061 deg. BhmHeadingCmd: 4.829345 target range: 44.586494 and range: 44.80 m.h@h*h"h hgfffeBdddjdZd@}V@kBɢ9d) P T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode. Aa Ae @ABm '>Bi Bm YIBm BBi Bi Bi Bm cw;Bm 1EB9B9B9B9B9C= 4,0%W?A2h@2Rc@2;ٱ2B :AHRS rotation from veh to nav: [[0.173842,0.966783,0.187374],[-0.984745,0.172112,0.025591],[-0.007508,-0.188964,0.981955]]2Hv@????4?~/ȿ-l?i2h@I2%];2CYVpByVIbDbVDbyf2>%jQ=ٔj̺Q-j>9hYl=nfFlynDrEr>tQ 5z4v5?Q 9z4v")v7XBYxy~7Q I~?vCIv;iv ;v4yɮAjh)-DNOT Ignoring new targets: 44.59 m.bh1Rh5+`Zh5+`E ProNav: ac range: 44.586494 m, nav range: 42.509109 m, bearing: 276.183489 deg, approach rate: -0.578515 m/s, LOS rate: -0.048996 deg/s, cmd heading: 276.701072 deg, new cmd heading: 276.646604 deg. BhMMHeadingCmd: 4.828394 target range: 44.586494 and range: 44.80 m.hM4@hQ*hQ"hQ hQgQfQfYfYdYdYdajdaZde <@颍lBɢIm{) `a /,ȱ?W?Ai I"A&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.744566JK@JF@J%;ٱJY8C bAHRS rotation from veh to nav: [[0.170406,0.967308,0.187824],[-0.985352,0.168554,0.025909],[-0.006596,-0.189488,0.981861]]JH? /? ?)??{"Aȿgk?iJK@IJ];J|CYflByjI llbDr VDr2yzx%zH=ٔ~/Q-~>9 Y=fFyD-` E->19Q 5E458?Q 9E45)5.XBYAyEQ IE?5CI5G);i5!*;5@4yQɮUAQjhDNOT Ignoring new targets: 44.59 m.bhRhIZhI ProNav: ac range: 44.586494 m, nav range: 42.282692 m, bearing: 276.165290 deg, approach rate: -0.545305 m/s, LOS rate: -0.044066 deg/s, cmd heading: 276.646594 deg, new cmd heading: 276.591704 deg. BhHeadingCmd: 4.827436 target range: 44.586494 and range: 44.80 m.h[z@h*h"h hgff1f1dAdIdjdZd @oBɢd) i)i ̈Ki U D+<߸a=I[z@Iq@@ @@/@ԑBDAT read: Rx Time:04:13:15.7431 TRx dataTimestamp_ set to:1761538397.256098checking for new query: numPingsReceived=0, elapsed TxPingTime=2.997240^A Xh=E 3 E $E ,E "E j;*E ;VE g4ZE a @a @a @a @ A ؟AI I O > ,YW?A2+@2&@2;ٱ2lC :AHRS rotation from veh to nav: [[0.166557,0.967858,0.188438],[-0.986017,0.164514,0.026543],[-0.005311,-0.190224,0.981726]]2HQ?`??t?.?u?YȿMj?i2+@I2];2CY^_By^IԙiMb@Mb@Mb@ 9I +?~jtxY9?yĻ A tA)YAbD VD2y-Ig%-8=ٔ-=Q-5>95"?Y5"?==fFy=D=E=>AQ 5M4E7BB!IBBB =BBBIw;B 1EmB@q @q@y@y^A (a= ېC] Gq 9 Y -AU DAT read: 04:13:15.7431 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 431,-0.10,-1.176,-2.797,-0.795,-1.165, PHS= 0.091,-1.587, 0.325, RAW= 156.5, 12.9, CAL= 156.8, 14.5, ROT= 353.2, -14.5 } Ygot valid direction response: 04:13:15.7431 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 431,-0.10,-1.176,-2.797,-0.795,-1.165, PHS= 0.091,-1.587, 0.325, RAW= 156.5, 12.9, CAL= 156.8, 14.5, ROT= 353.2, -14.5  PDAT read: Bearing 94.4, -9.5 (Local)  ~Local bearing/azimuth received: Bearing 94.4, -9.5 (Local)  DAT read: Range 11 to 50 : 43.5 m (Round-trip 58.1 ms) speed 0.7 m/s  *DAT read: user:116> ԙ  BDAT read: Tx time:04:13:16.8309  $Ping request sent. .@ f> %/@ >) C@I r?*_ ?՛XR? /"?) fI i  :publishing transmit ping time  Fpublishing direction and range infoy  (qNF?X=9?Y y &?A5 .AIA IQ O] >F,}sW?A=vA)1I1i11111 1)1I1115r?*_ ?՛XR? 1)1I1i111E=M E=.E=*E9"E=ˀ;*E=;VE=(N4ZE9BE=P9u ?Yu ?=ufFyuDuE}>yQ 54}u??Q 94} )}&XBYyaQ I?}CI};i}d;}#Ц4yɮAi1i5pW?AJi5+-BRi5+-Bji5,@b5x4D@[|p%@R5(qNF?X=9?Zi5bi5j5&)!@!ٛDc&@Z5HNbXз?kHC?2i5@&:i5ހ@"i5Ғ?*i5z SBi54Bi5>m{?i5z Si54Bi5 'Bi5 @ addTargetRange:: Added new target pos. range: 43.500000 m, deltaT: 3.529341 s, deltaX: -1.299999 m, approachRate: -0.368340 m/s, rangeRepo size: 4  Added new target pos. range: 43.292606 m, bearing: 275.534310 deg, lat: 36.779384 deg, lon: -121.859571 deg, deltaT: 3.529341 s, deltaX: -1.293888 m, approachRate: -0.366609 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 43.29 m.bhRhZh  ProNav: ac range: 43.292606 m, nav range: 41.782196 m, bearing: 275.869079 deg, approach rate: 0.000000 m/s, LOS rate: -0.046025 deg/s, cmd heading: 276.531355 deg, new cmd heading: 276.469898 deg. Bh HeadingCmd: 4.825310 target range: 43.292606 and range: 43.50 m.hh@h*hQ"hQ hQgYfYfYfYdadadajdeE@Zdm4?ԑrBɢ) >i)9iuHi;.<,P=Ih@I{>i>@@ @@@^A gW= A ؟AI I O >$ ,W?A2@2h@2Z*;ٱ2E >AHRS rotation from veh to nav: [[0.159172,0.968811,0.189918],[-0.987247,0.156707,0.028027],[-0.002609,-0.191957,0.981400]]2H_?`?;O???_e ȿg?i2@I2];0YBNByBI i]Mb@Mb@Mb@YYYY Y9]Zd;?:v~jthY]?y]T]D]7AY ]A)YYY]AbDuVDu:y;c%;=ٔKIQ->9"?Y"?=fFyD E>Q 54B?Q 94)%XBY?Q E:yYQ I?!CI ;iP ;צ4yؒBɮMA&EB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 43.29 m.bhRh'Zh' ProNav: ac range: 43.292606 m, nav range: 41.514454 m, bearing: 275.855787 deg, approach rate: -0.669967 m/s, LOS rate: -0.033474 deg/s, cmd heading: 276.469911 deg, new cmd heading: 276.429778 deg. BhɷHeadingCmd: 4.824610 target range: 43.292606 and range: 43.50 m.h4c@h*h"h hg f f f IBdddjdZd P?E, E-E,E"Ec;*EK;VEg4ZEa@a@a@a@=tBɢE()A EiA)EHAIiMGiMUf/BIBMIBMwBBM =BIBIBM8w;BM1E^A= JM=ԑ Ai Iq I O >-,BW?A2͔@2Pț@2Ru:ٱ2GE :AHRS rotation from veh to nav: [[0.155183,0.969581,0.189289],[-0.987885,0.152489,0.028805],[-0.000936,-0.191466,0.981499]]2H ??`:?`Ƅ??@PN@ȿ ph?i2͔@I2^;0Y^_BybIbDrVDrfyz=%zU=ٔ~ҎQ-~>9Y= fFy D ,E>yQ 54FE?Q 94 )YyݷQ I??CIG;iI;hަ4yɮAjhDNOT Ignoring new targets: 43.29 m.bhRhZh  ProNav: ac range: 43.292606 m, nav range: 41.275227 m, bearing: 275.845108 deg, approach rate: -0.591350 m/s, LOS rate: -0.026551 deg/s, cmd heading: 276.429777 deg, new cmd heading: 276.397554 deg. Bh őHeadingCmd: 4.824048 target range: 43.292606 and range: 43.50 m.h%^@h)*h)"h1 h9gAfAfIfIdIdIdIjdQZdUj?}uBɢ}m9) 1i)rՃ顁iFiź0<checking for new query: numPingsReceived=0, elapsed TxPingTime=0.987512 ;=I^@Iԩ-A@) @)@-0@)D4=DR=E2 E3E'E"Ei;*Et ;VE'4ZEBE(,W?Ae2@e@ehQٱeXC AHRS rotation from veh to nav: [[0.151286,0.970581,0.187312],[-0.988490,0.148391,0.029461],[0.000799,-0.189613,0.981859]]eHS]? ?`?`}? +?-J?>Eȿbk?ie2@Ie ];e|CYyIiMb@Mb@Mb@ 9l?I +{Gz?Y?y94#<A tA)Y(AbDVDf?y % -=ٔ]pQ->9Y=fFyDE%>!Q 554%{H?Q 954%N")%+XBY5?Q E=:y=Q I=?%cCI%";i%3";%4yAɮEAAjhimDNOT Ignoring new targets: 43.29 m.bhqRhuZ ZhuZ  ProNav: ac range: 43.292606 m, nav range: 40.996349 m, bearing: 275.831532 deg, approach rate: -0.616997 m/s, LOS rate: -0.030239 deg/s, cmd heading: 276.397566 deg, new cmd heading: 276.356562 deg. BhHeadingCmd: 4.823332 target range: 43.292606 and range: 43.50 m.hX@h*h"h hgfffJBdddjdZd`?MwBɢMo˝)I UhAiQ)U-QQiUEi]zܺ] 2<]81=I]X@Ia?@ @!@%~3@!@)@-fAMchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.4964291E3 EAE*E"Ej;*E;VE(N4ZEa@a@a@a@^A *:=A zA dAi I I O% >r@,jW?A;ɰ;Y~rBy~I bDVDܲy%=%%o=ٔ%Q-%?9)Y)=-fFy-D-E5?1Q 5E45J?Q 9E45')5/XBYAyAQ IE?5}CI5 :i5X:54yQɮU*AQchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.747387B)>BBIBgBB =BBBԹ D zD AAE 1 E %E )E "E 2h;*E ;VE FA4ZE BE _9AYA=EfFyEDMEM>QQ 5]4UjM?Q 9]4U-)U5XBYYy]Q Ie?UCIU ;iU ;U4yiɮmAijhDNOT Ignoring new targets: 43.29 m.bhRhZh ProNav: ac range: 43.292606 m, nav range: 40.553852 m, bearing: 275.812218 deg, approach rate: -0.643526 m/s, LOS rate: -0.025220 deg/s, cmd heading: 276.326614 deg, new cmd heading: 276.298291 deg. BhUw]HeadingCmd: 4.822315 target range: 43.292606 and range: 43.50 m.hegP@ha*ha"ha higifif!f!d!d!d!jd)Zd-@颵zBɢ芃) :i)>项i'Di3<=IgP@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.252231A@ @@/@Aq ^A d6=I I O- >] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503432W,6X?AJX@JkS@JgtٱJ%C RAHRS rotation from veh to nav: [[0.141070,0.972150,0.187147],[-0.989985,0.137502,0.031978],[0.005354,-0.189784,0.981811]]JH??`r?`?@o_?u? Jȿ@j?iJX@IJl];J{CYZByZIi=Mb@Mb@Mb@9999 99=On?Mb:v?Y=?y==T<=MA=@ =A)=CA9Y=AbDUVDUkyeu=%eG=ٔeOQ-e>9iYi=mfFymDuZջEu>yQ 54}$P?Q 94};4)}=XBY?Q E:yQ I?}CI};i};}4yBɮA1EuB*** querying acoustic contact ***iq iqjhE E#E*E"E*E;VE(N4ZEa@a@a@a@amDNOT Ignoring new targets: 43.29 m.bhiRhm Zhu  ProNav: ac range: 43.292606 m, nav range: 40.309200 m, bearing: 275.801411 deg, approach rate: -0.560800 m/s, LOS rate: -0.024922 deg/s, cmd heading: 276.298282 deg, new cmd heading: 276.265665 deg. BhԈHeadingCmd: 4.821745 target range: 43.292606 and range: 43.50 m.hK@h*h"h hgfffBdddjdZd}2@E{BɢEin)I MAm>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755424IIAAB&>BBIBrBB =BBDB,w;B0EO5>Թ { ,M+X?AJ\A@PJ+<@JػٱJ:E ^AHRS rotation from veh to nav: [[0.138258,0.972257,0.188683],[-0.990374,0.134455,0.032874],[0.006592,-0.191412,0.981488]]JHs?`?&?`%5?`Ԡ?{? .ȿXh?iJ\A@IJ^;JzCYjByn!IIr>)r=bD~VD~Ny F=%P=ٔNQ->9Y!=%fFy%D-E->1Q 5=45R?Q 9=45X:)5DXBYAyEuQ IE?5CI5-;i5:;54yIɮMAQjhq}DNOT Ignoring new targets: 43.29 m.bhyRh}Zh ProNav: ac range: 43.292606 m, nav range: 40.074806 m, bearing: 275.791872 deg, approach rate: -0.636847 m/s, LOS rate: -0.026068 deg/s, cmd heading: 276.265661 deg, new cmd heading: 276.236878 deg. BhHeadingCmd: 4.821243 target range: 43.292606 and range: 43.50 m.hG@h*h"h hgfffdddjdZd`@|BɢbU) "=i) qރ  i c\Ci 5<' =IG@I-BDAT read: Rx Time:04:13:19.2901 -TRx dataTimestamp_ set to:1761538400.7902045checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010689B@ @@/@E@ E.EE"Eu;*E;VEZEBE!!  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259475h,EX?A|YBy=IMonly read 0 of 1 data item for water mass range. Device response is::WD, -21.92, + +7.29, 20.00 aM@aM aM@aM aM@aM aM@aU bD]VD]P)y=%&=ٔQ->9Y=fFyDE>Q 54U?Q 94A)MXBQ A+:YQ E:yQ I?CIu ;i>4yɮAjhDNOT Ignoring new targets: 43.29 m.bh!Rh%wZh%w5 ProNav: ac range: 43.292606 m, nav range: 39.782032 m, bearing: 275.779800 deg, approach rate: -0.595815 m/s, LOS rate: -0.024749 deg/s, cmd heading: 276.236865 deg, new cmd heading: 276.200381 deg. Bh5ᇺ=HeadingCmd: 4.820606 target range: 43.292606 and range: 43.50 m.h=hB@hA*hA"hA hAgAfAfIfIdIdIdIjdQZdU @}~Bɢ}3) =i)<顁iCi56<*=IhB@IMDAT read: 04:13:19.2901 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 416, 0.21, 2.493, 0.812, 2.869, 2.414, PHS= 0.181,-1.557, 0.411, RAW= 156.1, 10.4, CAL= 156.1, 11.3, ROT= 353.9, -11.3 UYgot valid direction response: 04:13:19.2901 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 416, 0.21, 2.493, 0.812, 2.869, 2.414, PHS= 0.181,-1.557, 0.411, RAW= 156.1, 10.4, CAL= 156.1, 11.3, ROT= 353.9, -11.3 ]PDAT read: Bearing 89.7, -8.0 (Local) ]~Local bearing/azimuth received: Bearing 89.7, -8.0 (Local) mDAT read: Range 11 to 50 : 41.2 m (Round-trip 55.0 ms) speed 0.7 m/s m*DAT read: user:117> uBDAT read: Tx time:04:13:20.3809 u$Ping request sent.}x_?Y$B D@ @@@)AIX9>iKǿn>].@9>].@ I>)@II k?>Џ?! ? Tt!?)h9Ii ڽiI:publishing transmit ping timeqFpublishing direction and range infoy9$3?e% >x_?Y )Ii )I k?>Џ?! ? )IQibEM(N4jEMI4rEMȟ/E7 E0E(E"Em;*E;VEc44ZEa@a@a@a@y ^A O =A .AI I! O- > ,&aX?A<B^%>B\B^IB^BB\B\B\B^w;B^0EBBBBBCf4YUByUMIbDeVDefyu0=%ue=ٔqQ-}>9} ?Y} ?=}fFy}DE>Q 544X?Q 94G)TXBQ A :YQ Ei:yQ I?CI ;iY? 4yɮAiiimRX?AJim$BRim$Bjim@bm72C@2BFbޡ @Rm9$3?e% >x_?Zimi ڽbimIjmߜ@jCb*!@Zm߬ @ ?$v[^?2im:im8@"imSK?*imHY+aBimBim@ha*ha"ha higifififidqdqdqjduD@Zd}@!?ԡ%Bɢ%OP)! %=i))-Q))i-4Bi5LF5[7<5=I5H>@I9B@ @@/@@)@-hA ^A= =E 0 E *E *E "E Jg;*E ;VE (N4ZE BE ^v,ڨ|X?A Z4@Z@Z=ٱZL@ bAHRS rotation from veh to nav: [[0.131101,0.974198,0.183712],[-0.991329,0.127161,0.033116],[0.008901,-0.186461,0.982422]]ZH? ,? ?F? ?w:?ǿp?iZ4@IZ];Z{CYj̀ByjkI ppvAAtbDvVDvβy~U=%H=ٔQ->9 "?Y "?= fFy D E >AQ 5E4EZ?Q 9M4EM)E\XBQ AM9YIQ EM=:yMfQ IM?E9CIE:iEա?E4yYɮ]AajhDNOT Ignoring new targets: 41.00 m.bhRhZh ProNav: ac range: 41.003300 m, nav range: 39.305046 m, bearing: 275.500766 deg, approach rate: -0.644448 m/s, LOS rate: -0.024769 deg/s, cmd heading: 276.171541 deg, new cmd heading: 276.143096 deg. BhHeadingCmd: 4.819606 target range: 41.003300 and range: 41.20 m.h7:@h*h"h hgfffdddjdZd?BɢV) >i)Yi%CiVl7<Va[%,wX?A2@2n@2gٱ2y> :AHRS rotation from veh to nav: [[0.130304,0.974581,0.182242],[-0.991435,0.126457,0.032628],[0.008753,-0.184933,0.982712]]2H@Э? /?S?ֹ/???ޫǿ`r?i2@I2^;2}CYBByBIPaa aa aa aa iMb@Mb@Mb@Ee/ Ee3Ee(Ea"Eeaf;*Eet ;VEec44ZEaam@am@am@am@ 9"~j?y&1|S㥛?YS?y`廙/<@ A)AYAbDVD0yg=%<=ٔò9Q->9Y=fFyDE>Q 5 4]?Q 94S)jXBQ AT:Y?Q E:yθQ I?VCI;i[;&4y%Bɮ%vA%:EEB*** querying acoustic contact ***iA iAjhIUDNOT Ignoring new targets: 41.00 m.bhQRhUcֹZh]cֹm ProNav: ac range: 41.003300 m, nav range: 39.085320 m, bearing: 275.490778 deg, approach rate: -0.512502 m/s, LOS rate: -0.023429 deg/s, cmd heading: 276.143100 deg, new cmd heading: 276.112966 deg. BhuHeadingCmd: 4.819080 target range: 41.003300 and range: 41.20 m.h5@h*h"h hgfffBdddjdZd ^?额Bɢz) t9>i)P顡ipCig8<,?BIBMLIBMBBIBIBMDBM'w;BM0E^A e<1 GA (hA! M d9M (hAYU hAIA Ia Om >ƒ+,ƊX?A2@2@2$ٱ2,< :AHRS rotation from veh to nav: [[0.130081,0.975000,0.180147],[-0.991471,0.126434,0.031633],[0.008065,-0.182726,0.983131]]2H~? 43?? .?.2?@?cǿu?i2@I2\];0YBByBIbDJVDJܲyR =%R`=ٔV:Q-V>9TYX=ZfFyZDZL"EZ>\Q 5b4^_?Q 9b4^X)^vXBYdyfٸQ If?^nCI^;i^;^4yhɮjAlechecking for new query: numPingsReceived=0, elapsed TxPingTime=1.500097jhDNOT Ignoring new targets: 41.00 m.bhRh)ɹZh)ɹ ProNav: ac range: 41.003300 m, nav range: 38.898220 m, bearing: 275.482279 deg, approach rate: -0.481669 m/s, LOS rate: -0.021984 deg/s, cmd heading: 276.112965 deg, new cmd heading: 276.087347 deg. BheqHeadingCmd: 4.818633 target range: 41.003300 and range: 41.20 m.h>2@h*h"h hg!f!f!f!d)d)d)jd)Zd-4?颥Bɢ@F) W>i)*~顩iCiuv;9<P2@IE, E'E,E"Ec;*E";VEg4ZEBEtA}>i I A checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752324ԑ A I I O- >Gq2,>X?Ae@e@eǟٱe;q }AHRS rotation from veh to nav: [[0.130446,0.975129,0.179187],[-0.991427,0.126939,0.030950],[0.007435,-0.181688,0.983328]]eHu?@4? ? ƹ??`v?s~?Aǿ`lw?ie@Ie];e|CYByII4>)>iMb@Mb@Mb@ 9tV?ytj<7A A)ZAYAbD-VD-y==%=4=ٔE?:Q-E>9AYA=EfFyEDMT:EM>QQ 5]4UEa?Q 9]4U4^)UXBY]>Q Ee:yeQ Ie?UCIU:iU:Ut&4yiɮmsAijhDNOT Ignoring new targets: 41.00 m.bhRhxZhx ProNav: ac range: 41.003300 m, nav range: 38.683342 m, bearing: 275.474230 deg, approach rate: -0.500401 m/s, LOS rate: -0.018848 deg/s, cmd heading: 276.087338 deg, new cmd heading: 276.063057 deg. BhNHeadingCmd: 4.818209 target range: 41.003300 and range: 41.20 m.h.@h*h"h hgfff$BdddjdZd`W?5Bɢ5;9)1 =,r>i9)=dz99checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004224ԡi=GDiXi:<=I.@IuB@q @y@}3@yE=6 E= E9E9"E=l;*E=:VE9ZE9aE@aE@aE@aE@^A} V< B '>B B IB BB =B B = checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256142B 2w;B 0EA I I O >E8,}X?AN@NR@NܻٱN: ZAHRS rotation from veh to nav: [[0.130898,0.975095,0.179039],[-0.991373,0.127515,0.030330],[0.006744,-0.181464,0.983374]]NH@F?3??S@eR??{?`9:ǿw?iN@IN];N{CYbBybIbDnVDnNyrϘ=%vV=ٔv:Q-v>9xYx=zfFyzDz-:Ez>|Q 54~c?Q 9 4~b)~XBY y Q I ?~CI~;i~;~!-4yɮA!jhAMDNOT Ignoring new targets: 41.00 m.bhIRhMQZhMQ] ProNav: ac range: 41.003300 m, nav range: 38.502365 m, bearing: 275.467262 deg, approach rate: -0.472645 m/s, LOS rate: -0.018285 deg/s, cmd heading: 276.063050 deg, new cmd heading: 276.042046 deg. Bh]HHeadingCmd: 4.817842 target range: 41.003300 and range: 41.20 m.h+@h*h"h hgfffdddjdZdQ@EBɢM;)I M>iI)MtwQQiUDiU[]:<]=I]+@I@@ @@/@Q>4=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508277ԉ^AqD zD @AE : E 'E )E "E \p;*E ";VE FA4ZE BE m?,,X?A2 @2@2ٱ2; :AHRS rotation from veh to nav: [[0.131772,0.974936,0.179266],[-0.991263,0.128529,0.029634],[0.005850,-0.181604,0.983354]]2H`?2?`.?l@s?IX?)w?>ǿ`w?i2 @I2;];0YJByJIbDRVDRkyZ‘=%ZO=ٔZ;Q-^>9\Y`=bfFyb Df;Ef>hQ 5j4j e?Q 9n4jg)jXBY9yEhQ IE?jCIjoi)Bsi^EiVF;<&J=I(@I]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760040uA@q @q@q@q^A=A .AI I  BDAT read: Rx Time:04:13:22.8372  TRx dataTimestamp_ set to:1761538404.316202 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013152O% >! E,Y?AɰE2@ E2-E2(E0"E2u;*E2K;VE2c44ZE0a6@a6@a6@a6@Y#ByIiUMb@Mb@Mb@QQQQ Q9U@5^I ?Mb/$?YUb>yUU9 ?Y ?=fFy)DE>Q 54f?Q 94l)XBY>Q E;ykQ I?CIn:i:"<4yɮ]AB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 41.00 m.bhRh2Zh2 ProNav: ac range: 41.003300 m, nav range: 38.126678 m, bearing: 275.452111 deg, approach rate: -0.417219 m/s, LOS rate: -0.016960 deg/s, cmd heading: 276.019337 deg, new cmd heading: 275.996363 deg. Bh<:HeadingCmd: 4.817045 target range: 41.003300 and range: 41.20 m.h<%@h*h"h hg fff`BdddjdZd@q @Bɢ;)! %`>i))-HIo))i-Ei5y5#<<5R =I5<%@I9!A)A)B=&>B9B=IB=BB9B9B9B=Gw;B= 1Emchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.265216@ @@/@Q^A%  =y Au ؟AIy I O >EL,ty3Y?A6!@VDAT read: 04:13:22.8372 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 419, 0.06,-2.267, 2.379,-1.924,-2.291, PHS= 0.126,-1.568, 0.323, RAW= 155.4, 12.4, CAL= 155.6, 13.9, ROT= 354.4, -13.9 ^Ygot valid direction response: 04:13:22.8372 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 419, 0.06,-2.267, 2.379,-1.924,-2.291, PHS= 0.126,-1.568, 0.323, RAW= 155.4, 12.4, CAL= 155.6, 13.9, ROT= 354.4, -13.9 ^PDAT read: Bearing 92.1, -7.8 (Local) b~Local bearing/azimuth received: Bearing 92.1, -7.8 (Local) fDAT read: Range 11 to 50 : 39.1 m (Round-trip 52.2 ms) speed 0.3 m/s j*DAT read: user:118> nBDAT read: Tx time:04:13:23.9308 n$Ping request sent.n7(?؜j?ؼʿ?Y>fB<<<< <)>BI>%>i>9ȿ>B`>>^-@>k]>>-@ >Ulx>)>.@I>Ulx<<>v?=Y?+nx? >pU?)>y]I>)+Ƚi>Ulx<<:publishing transmit ping timelFpublishing direction and range infoy<>7(?؜j?ؼʿ?Y<<<<< <)v?=Y?+nx? <)9-"?Ym"?=mfFym1Du ;Eu>yQ 5}4}h?Q 94}q)}XBYyQ I?}CI}$ E5"E5+E1"E5s;*E5;VE5 [4ZE1BE5y4Y?AJi>BRi>Bji>My@b>lB@R$} ="@R>7(?؜j?ؼʿ?Zi>)+Ƚbi>Ulxj>.u$ @ V7B~j9#@Z>I ?32UKHq?2i>:i>$I@"i>>q?*i>JBi>"Bi>Ғ?i<i>"Bi>Bi>ș@ addTargetRange:: Added new target pos. range: 39.099998 m, deltaT: 3.528224 s, deltaX: -2.100002 m, approachRate: -0.595201 m/s, rangeRepo size: 4  Added new target pos. range: 38.913559 m, bearing: 274.793829 deg, lat: 36.779382 deg, lon: -121.859571 deg, deltaT: 3.528224 s, deltaX: -2.089741 m, approachRate: -0.592293 m/s, posRepo size: 4 jh  DNOT Ignoring new targets: 38.91 m.bh RhZhU ProNav: ac range: 38.913559 m, nav range: 37.954525 m, bearing: 275.348083 deg, approach rate: 0.000000 m/s, LOS rate: -0.016960 deg/s, cmd heading: 275.996360 deg, new cmd heading: 275.974188 deg. BhQHeadingCmd: 4.816658 target range: 38.913559 and range: 39.10 m.h"@h*h"h hgfffdddjďC@Zd?5B9ɢu;)y }Ē>iy)}1kyyixFi, =<f=I"@IB@ @@/@a^A9 ԙ A .AI I O >@S,kPY?A>+@>Z&@>^W%ٱ>F; FAHRS rotation from veh to nav: [[0.135623,0.974300,0.179852],[-0.990757,0.132907,0.027124],[0.002523,-0.181869,0.983320]]>H \?@v-?g?H?@Kƛ?`d? yGǿZw?i>+@I>`];>zCYN.ByNIxi%Mb@Mb@Mb@!!!! !9%L7A`?{Gz?Y%+>y%%#<%MA%@ %-A)%ZA!Y%=AbD= VD=:2yM<%U<ٔU(#;Q-U>9] ?Y] ?=]fFy]:De=;Ee>iQ 5u4mj?Q 9u4mOu)mXBYu;>Q Eu;yu Q I}?mCIm ;im;mJ4yɮUAqIAggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLIEntering USBL mode with 120.000000 count pings at 39.099998 m (mode 2.000000 count ).IIjhDNOT Ignoring new targets: 38.91 m.bhRhZh ProNav: ac range: 38.913559 m, nav range: 37.792339 m, bearing: 275.336424 deg, approach rate: -0.414253 m/s, LOS rate: -0.029907 deg/s, cmd heading: 275.974176 deg, new cmd heading: 275.939049 deg. Bh3HeadingCmd: 4.816045 target range: 38.913559 and range: 39.10 m.h @h*h"h hgfff\BdddjdZdZ?Bɢf%<) ԛ>i)DBgi Fi C˻=<؃=I @I)E6 E-EE"El;*EK;VEZEa@a@a@a@@ @@0@@=@=I^Al=Bi Bi Bm IBm .BBm =Bi Bi Bm fw;Bm 1Ey AQ Ia Iq O >Z,U.jY?A2.;@25@2pкٱ2d9 :AHRS rotation from veh to nav: [[0.137514,0.974315,0.178327],[-0.990499,0.134978,0.026337],[0.001590,-0.180254,0.983619]]2H@?@-?l?*F?@?`Z? ǿy?i2.;@I2&b];2{CYB#ByBIHJAbDNVDNyzo%zQ=ٔ~g;Q-~>9Y=fFy AD ;E >Q 5%4xl?Q 9-4Hy)XBY)y-϶Q I5?CI4;i8;kQ4yAɮEAAYim^@Iu1JujhDNOT Ignoring new targets: 38.91 m.bhRhZh ProNav: ac range: 38.913559 m, nav range: 37.639919 m, bearing: 275.324941 deg, approach rate: -0.384028 m/s, LOS rate: -0.029049 deg/s, cmd heading: 275.939041 deg, new cmd heading: 275.904453 deg. Bh|HeadingCmd: 4.815441 target range: 38.913559 and range: 39.10 m.h@h*h"h hgfffdddjdZdq?%Bɢ%j^;)! %̍>i!)%c))i-K\Gi5 ߻5><-O\#=I5@I1ԉM@ @@ 2@ԱDzD?AE E/E$E"E*EY;VE4ZEBEJn`, Y?A2G@2rB@2uٱ2(6 :AHRS rotation from veh to nav: [[0.139020,0.974549,0.175863],[-0.990289,0.136642,0.025619],[0.000937,-0.177717,0.984081]]2Hi?@/?ଂ?r}?;?@BN?`kƿ}?i2G@I2"B];0Y^BybIbDjVDj0yr%rK=ٔrg:Q-r>9v"?Yv"?=vfFyvIDzx;Ez>|Q 54~Zn?Q 94~T})~XBYyQ I ?~"CI~D;i~;~gX4yɮAi1JqJԹjhDNOT Ignoring new targets: 38.91 m.bhRhZh ProNav: ac range: 38.913559 m, nav range: 37.484573 m, bearing: 275.312795 deg, approach rate: -0.378422 m/s, LOS rate: -0.029710 deg/s, cmd heading: 275.904453 deg, new cmd heading: 275.867865 deg. BhHeadingCmd: 4.814803 target range: 38.913559 and range: 39.10 m.h@h*h"h hgfffdddjdZd`?%Bɢ%;)) -a>i))-X`))i-Gi5󻿉5?<=s*=I=@I9K@ @@4@^A$=A! I) I9 OM >bEmʷG4jEmmF4rEmuf0E , E E )E "E c;*E VE FA4ZE a @a @a @a @A g,Y?A2V@2P@2Q*ٱ2*>4 >AHRS rotation from veh to nav: [[0.140758,0.974751,0.173345],[-0.990044,0.138555,0.024807],[0.000163,-0.175111,0.984549]]2H`]? (1?`*0?p ,? g? j[%?jƿ`l?i2V@I2Q];0Y^BybIiuMb@Mb@Mb@qqqq q9u~jt?{Gzt?MbP?Yu>yuף;u:qq uA)uAqYuAbDVD 3yO!%?=ٔ:Q->9Y=fFyRDf;E>Q 54{p?Q 94)Y>Q E ;yIQ I?7CI(;i(;_4yBɮ8ADEjqJCompleted lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLqIAggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLB*** querying acoustic contact ***i ixjhDNOT Ignoring new targets: 38.91 m.bhRh -Zh -% ProNav: ac range: 38.913559 m, nav range: 37.320541 m, bearing: 275.297217 deg, approach rate: -0.398023 m/s, LOS rate: -0.037966 deg/s, cmd heading: 275.867871 deg, new cmd heading: 275.820931 deg. Bh%rк-HeadingCmd: 4.813983 target range: 38.913559 and range: 39.10 m.h-' @h)*h)"h) h)g)f1f1f5MBd9d9d9jd9ZdE?mBɢmH;)i mv>ii)]iGio@<L3=I' @IB<AB#>BCBIB=BBBBDBqw;B1EBBBBBCi4T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with 120 pings in terminal homing one-way mode.?@ @@/@@@fAAq^A)=AzAI I O >E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003985ԙ Jm,YY?AY~By~I bDVDNy%ӽ%%R=ٔ%Q-%>9)Y)=-fFy-ZD5E5>9Q 5u4=jr?Q 9}4=z)9YyyyQ I}?=JCI=;i=v;=f4yɮAE? E4E'E"Et;*E ;VE'4ZEBEXi)eqZiGi['A<+5=I@IeA@a @a@e/@aԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.256072^A 3=I I O > 9t,Y?A2g@2nb@2 :ٱ2!4 :AHRS rotation from veh to nav: [[0.142885,0.974433,0.173391],[-0.989738,0.140907,0.023734],[-0.001305,-0.175003,0.984567]]2H J?.?1?: ?M?8aUfƿ?i2g@I2EU];0YBByBIi Mb@Mb@Mb@     9 㥛 ?~jt?y&1Y >y D< `e 7A S@ -A) ZA Y fAbD%VD%1y5X{%5H=ٔ=k;Q-=>99Y9=EfFyEbDEy;EE>IQ 5U4Mt?Q 9U4M)MXBY]>Q E]:y]ճQ I]?M`CIM :iM3:Mm4yaɮeDAichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.508014jh)-DNOT Ignoring new targets: 38.91 m.bh1Rh5yYZh5yYe ProNav: ac range: 38.913559 m, nav range: 37.001789 m, bearing: 275.263555 deg, approach rate: -0.414238 m/s, LOS rate: -0.047532 deg/s, cmd heading: 275.778013 deg, new cmd heading: 275.719515 deg. Bhe{mHeadingCmd: 4.812213 target range: 38.913559 and range: 39.10 m.hm@hi*hi"hq hqgqfqfyf}'BdydydyjdZd0O@Bɢ) (>i)?XiGiHC<AA=I@I@ @@/@!E8 E#E(E"En;*E;VEc44ZEa@a@a@a@B !>B B IB 8BB B B B dw;B 1E! ^A% 5= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759877I I O >\z,sY?ANn@Ni@N?:ٱN,4 ZAHRS rotation from veh to nav: [[0.143759,0.974285,0.173499],[-0.989611,0.141873,0.023289],[-0.001924,-0.175044,0.984559]]NHf? X-?45?` (?ٗ?@_@gƿ ?iNn@IN%];LYfByjIbDvVDv0y%O=ٔ :Q- >9Y=fFyjD;E>)Q 554-w?Q 954-2 GliA)-XBYyQ I ?-uCI-=i-=-t4ES9EliAYEAyIɮMAIjhDNOT Ignoring new targets: 38.91 m.bhRhUZhU ProNav: ac range: 38.913559 m, nav range: 36.836571 m, bearing: 275.244283 deg, approach rate: -0.397493 m/s, LOS rate: -0.046573 deg/s, cmd heading: 275.719519 deg, new cmd heading: 275.661445 deg. BhHeadingCmd: 4.811200 target range: 38.913559 and range: 39.10 m.hY@h*h"h hgfffdddjdZd@Q]Bɢ]"g)a e>ia)e|VaaieJWGiu juCDD,DQZ?A2checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263796>r@@>lm@>;ٱ>e4 JAHRS rotation from veh to nav: [[0.144213,0.974108,0.174118],[-0.989544,0.142391,0.022979],[-0.002409,-0.175611,0.984457]]>H u?+?{I?W9?? >cizƿ`?i>r@I>(];9dYd=jfFyjsDjR:Ej>lQ 5r4niy?Q 9v4nw)nXBYtyvQ Iv?nCIn:in:n{4yzBɮzA~NEjh%DNOT Ignoring new targets: 38.91 m.bh!Rh-zZh-z5 ProNav: ac range: 38.913559 m, nav range: 36.672424 m, bearing: 275.224852 deg, approach rate: -0.460883 m/s, LOS rate: -0.054803 deg/s, cmd heading: 275.661435 deg, new cmd heading: 275.602880 deg. Bh=qEHeadingCmd: 4.810178 target range: 38.913559 and range: 39.10 m.hE@hA*hA"hA hAgAfIfIfIdIdQdQjdQZdUzs @颅Bɢջ) ı=i)~U顉iFi-RE<K=I@IY@Y @a@e_0@iԹ^A4|E=]DAT read: 04:13:26.3853 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 416, 0.09, 1.455,-0.226, 1.814, 1.382, PHS= 0.175,-1.563, 0.389, RAW= 155.7, 10.8, CAL= 155.7, 11.8, ROT= 354.3, -11.8 eYgot valid direction response: 04:13:26.3853 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 416, 0.09, 1.455,-0.226, 1.814, 1.382, PHS= 0.175,-1.563, 0.389, RAW= 155.7, 10.8, CAL= 155.7, 11.8, ROT= 354.3, -11.8 IyIO>PDAT read: Bearing 90.1, -7.5 (Local) ~Local bearing/azimuth received: Bearing 90.1, -7.5 (Local) 5 DAT read: Range 11 to 50 : 37.7 m (Round-trip 50.3 ms) speed 0.3 m/s = *DAT read: user:119> E BDAT read: Tx time:04:13:27.4808 E $Ping request sent.E i%bȿ%+>%'-@%A>%'-@ %BR>)%@I%BR!! %x:Z!?Ź_\?MU? %?)%@I%)˽i%BR!! :publishing transmit ping timeA  Fpublishing direction and range infoy!%'w;+?a w㸿rG,?Y!!!!! !)!I!i!!!!! !)!I!!!%x:Z!?Ź_\?MU? !)!I!i!!! checking for new query: numPingsReceived=1, elapsed TxPingTime=0.050880E} 2 E} .E} )Ey "E} i;*E} ;VE} FA4ZEy a @a @a @a @r,i:Z?A2l@2bg@2";ٱ2'G6 :AHRS rotation from veh to nav: [[0.143484,0.973952,0.175586],[-0.989650,0.141652,0.022988],[-0.002483,-0.177067,0.984196]]2H ]?*?y?5!? ?/Wdƿ~?i2l@I2@];0YN€ByN^IliMb@Mb@Mb@ 9x&1?yt<A A)AYAbDVDy%9=ٔ>/9Q-->91YA=EfFyE|DM|պEM>qQ 5}4u|?Q 9}4u)uXBY>Q E:y!Q I?uCIu:iu:u4AAB>BBIBBB =BBBcw;B1Eyɮ#AiQiU|cZ?AJiUBRiUBjiUt@bUEB@y. ð@RU'w;+?a w㸿rG,?ZiU)˽biUBRjUı#N@P@B::6 @ZU~wǺ? i"tܧ?2iU:iUqB@"iU |?mchecking for new query: numPingsReceived=1, elapsed TxPingTime=0.213652*iUWBiUBiU |?iUzsWiUBiUwBiUgt@ addTargetRange:: Added new target pos. range: 37.700001 m, deltaT: 3.529930 s, deltaX: -1.399998 m, approachRate: -0.396608 m/s, rangeRepo size: 4  Added new target pos. range: 37.519642 m, bearing: 274.757228 deg, lat: 36.779380 deg, lon: -121.859573 deg, deltaT: 3.529930 s, deltaX: -1.393917 m, approachRate: -0.394885 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 37.52 m.bhRhZh ProNav: ac range: 37.519642 m, nav range: 36.616398 m, bearing: 274.759569 deg, approach rate: 0.000000 m/s, LOS rate: -0.054803 deg/s, cmd heading: 275.602887 deg, new cmd heading: 275.523482 deg. BhHeadingCmd: 4.808792 target range: 37.519642 and range: 37.70 m.h@h*h"h h!g!f!f)f-Bd)d)d)jd5B@Zd5ྜ?}Bɢt")  I=i)T顡iFi븼F<M=I@I]C@Y @a@e0@a9a ^A} M= checking for new query: numPingsReceived=1, elapsed TxPingTime=0.465451A I I O >,c:Z?A6`@6[@6Ѳ;ٱ6<4d rAHRS rotation from veh to nav: [[0.142051,0.974396,0.174281],[-0.989857,0.140240,0.022724],[-0.002299,-0.175742,0.984434]]6H .?@.? N?e?D?Yb~ƿ {?i6`@I6X;];6yCY~By~1IbD%VD%yE6%EK=ٔMQ-M>9QYY=]fFy]De^pEe>iQ 5u4m=~?Q 9u4m)mXBYqy}NQ I}?mCIm ;imz ;mr4yɮIAE) E/E(E"E`;*EY;VEc44ZEBEΔ,*TZ?A:O@:J@: ;ٱ: 6 bAHRS rotation from veh to nav: [[0.140011,0.974490,0.175406],[-0.990148,0.138181,0.022663],[-0.002153,-0.176851,0.984235]]:H`?/?s? J?4?a ƿ ~?i:O@I:T];:zCYjByjI llEchecking for new query: numPingsReceived=1, elapsed TxPingTime=0.969635imMb@Mb@Mb@iiii i9m%C?{Gzt?y&1YmZ?ymף;m`m7Am=@ m-A)iiYmAbDVDJ2yW%F=ٔ͹Q->9Y=fFyDE>Q 54?Q 94)XBY?Q E:yQ I?CIC ;i ;4yɮAjhDNOT Ignoring new targets: 37.52 m.bhRhxPZhxP ProNav: ac range: 37.519642 m, nav range: 36.233551 m, bearing: 274.721046 deg, approach rate: -0.496090 m/s, LOS rate: -0.045565 deg/s, cmd heading: 275.465873 deg, new cmd heading: 275.407325 deg. Bh*HeadingCmd: 4.806765 target range: 37.519642 and range: 37.70 m.hљ@h*h"h hgfffBdddjdZd`?Q]Bɢ])Y eia)eVaE' E,E$E"E _;*E;VE4ZEa@a@a@a@aiDi Y uI< H=I љ@IL@ @@@qB!>BBIBBBBBBLw;B1Echecking for new query: numPingsReceived=1, elapsed TxPingTime=1.221482 ^A A I I) O= >Ok,?oZ?A2Z8@2)3@2':ٱ2b7 :AHRS rotation from veh to nav: [[0.137172,0.974608,0.176982],[-0.990545,0.135307,0.022620],[-0.001901,-0.178412,0.983954]]2H ڎ?/?Y?``Q?)?@$_1ƿ@|?i2Z8@I2E];0YB}ByB IbDNVDNyVÃ%VK=ٔV"$Q-V>9XXY\=^fFy^D^E^>`Q 5f4b(?Q 9f4b)bzXBYhyjwQ Ij?bCIb;ibe;b4ylɮrMApjh DNOT Ignoring new targets: 37.52 m.bh Rh/[Zh/[ ProNav: ac range: 37.519642 m, nav range: 36.025349 m, bearing: 274.702793 deg, approach rate: -0.543314 m/s, LOS rate: -0.047907 deg/s, cmd heading: 275.407325 deg, new cmd heading: 275.352250 deg. BhHeadingCmd: 4.805803 target range: 37.519642 and range: 37.70 m.h$ə@h*h"h hgfffdddjdZd\h?颥Bɢ姼) Խi ) lW  i BibJ<B=I$ə@Im?mC?mchecking for new query: numPingsReceived=1, elapsed TxPingTime=1.473886C@ @@0@DzDAAE, EE'E"Ec;*Ex:VE'4ZEBEt checking for new query: numPingsReceived=1, elapsed TxPingTime=1.725545^,Z?A|YkByIbDVDyE%M?=ٔMQ-M>9QYQ=UfFyUD]E]>aQ 5e4e?Q 9m4eԬ)emXBYiyiQ Im?e CIe:ie :e%4yɮAjh1=DNOT Ignoring new targets: 37.52 m.bhARhM+JZhU+J ProNav: ac range: 37.519642 m, nav range: 35.805065 m, bearing: 274.683250 deg, approach rate: -0.495019 m/s, LOS rate: -0.044187 deg/s, cmd heading: 275.352246 deg, new cmd heading: 275.293256 deg. BhHeadingCmd: 4.804774 target range: 37.519642 and range: 37.70 m.h@h*h"h hgfffdddjdZd@!t?)颕BɢR) i)Y顙itAi<K<G=I@Iechecking for new query: numPingsReceived=1, elapsed TxPingTime=1.977870D@ @@-0@QEa  Ee *Ee +Ea "Ea *Ee ;VEe [4ZEa am @am @au @au @^A g@=ԁ A >A >A I I O >.ۨ,>%Z?AB<Ap<BBBLIBBB =BBB6w;B0E<9Y=fFyDE>Q 54o?Q 94\)bXBYT?Q E:yvQ I?,CIn:iv:4yBɮmlAWEjhDNOT Ignoring new targets: 37.52 m.bhRhIZhI ProNav: ac range: 37.519642 m, nav range: 35.554947 m, bearing: 274.663914 deg, approach rate: -0.566677 m/s, LOS rate: -0.044117 deg/s, cmd heading: 275.293261 deg, new cmd heading: 275.234844 deg. Bh7HeadingCmd: 4.803754 target range: 37.519642 and range: 37.70 m.h[@h*h"h hgfff}Bddd!jd!Zd-(@}Bɢ}ͼ) (i)`[i @i]%vL<%H|0=I%[@I)B@ @@/@DDAT read: Rx Time:04:13:29.6587 TRx dataTimestamp_ set to:1761538410.868705PDAT read: Bearing 93.2, -8.5 (Local) ~Local bearing/azimuth received: Bearing 93.2, -8.5 (Local) - DAT read: Range 11 to 50 : 36.6 m (trip time 24.4 ms) speed 0.5 U DAT read: 04:13:29.6587 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 432,-0.28, 0.921,-0.740, 1.269, 0.945, PHS= 0.078,-1.640, 0.280, RAW= 155.5, 13.9, CAL= 155.9, 15.8, ROT= 354.1, -15.8 ] Ygot valid direction response: 04:13:29.6587 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 432,-0.28, 0.921,-0.740, 1.269, 0.945, PHS= 0.078,-1.640, 0.280, RAW= 155.5, 13.9, CAL= 155.9, 15.8, ROT= 354.1, -15.8 ] R#Rx 2: Read range and direction messages.e ^direction in FSK: [0.957121,-0.098909,0.272280]e Fpublishing direction and range infoyum&?R ^ m?YfB )AIw=iѿ)\>-@Ulx>X$.@ 0>)J@I07-3I?W v?]% ? ?)exI)ҽi0 checking for new query: numPingsReceived=2, elapsed TxPingTime=2.5053439 ^A <H=Du %=Du %=E}  E} E} -Ey "E} >T;*E} :VE} t4ZEy BE} "x,Z?A2ٓ@2Ԛ@2v{:ٱ2n>L NAHRS rotation from veh to nav: [[0.125729,0.975002,0.183201],[-0.992064,0.123753,0.022224],[-0.001003,-0.184542,0.982824]]2H? 83?@%s?`E??noPǿKs?i2ٓ@I29Y=fFyD%2E%>)Q 5-4-݊?Q 954-d)-XXBY9y= Q I=?-ICI-%;i-';-Ȯ4yQɮUAYiiݘZ?AJiBRiBjiC@bv {nA@ė+n @#@Rum&?R ^ m?Zi)ҽbi0jd-"@ɁgAf4$@Zy?]~6Y΋;?2i? :i,@"i4Wm?*i MBiBi>q?iz SiBi BiJ@ addTargetRange:: Added new target pos. range: 36.599998 m, deltaT: 2.518883 s, deltaX: -1.100002 m, approachRate: -0.436702 m/s, rangeRepo size: 4  Added new target pos. range: 36.425022 m, bearing: 274.414619 deg, lat: 36.779379 deg, lon: -121.859571 deg, deltaT: 2.518883 s, deltaX: -1.094620 m, approachRate: -0.434566 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 36.43 m.bhRh%Zh!U ProNav: ac range: 36.425022 m, nav range: 35.146812 m, bearing: 274.467595 deg, approach rate: 0.000000 m/s, LOS rate: -0.044117 deg/s, cmd heading: 275.234849 deg, new cmd heading: 275.182861 deg. BhQ]HeadingCmd: 4.802847 target range: 36.425022 and range: 36.60 m.h]찙@hY*hY"hY hagafafafidddjdLB@Zd`?Bɢ) Ji)[^ir>i { M< ]&=I찙@II)gAchecking for new query: numPingsReceived=2, elapsed TxPingTime=2.734286@@ @@/@^A}?2=IiIyO{>! e DDAT read: Rx Time:04:13:30.1584 e TRx dataTimestamp_ set to:1761538411.372675m PDAT read: Bearing 93.3, -8.3 (Local) u ~Local bearing/azimuth received: Bearing 93.3, -8.3 (Local)  DAT read: Range 11 to 50 : 36.2 m (trip time 24.1 ms) speed 0.5  DAT read: 04:13:30.1584 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 510,-0.48,-2.851, 1.790,-2.518,-2.826, PHS= 0.076,-1.622, 0.264, RAW= 155.2, 14.1, CAL= 155.6, 16.0, ROT= 354.4, -16.0  Ygot valid direction response: 04:13:30.1584 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 510,-0.48,-2.851, 1.790,-2.518,-2.826, PHS= 0.076,-1.622, 0.264, RAW= 155.2, 14.1, CAL= 155.6, 16.0, ROT= 354.4, -16.0  R#Rx 3: Read range and direction messages. ^direction in FSK: [0.956674,-0.093803,0.275637] Fpublishing direction and range infoya e ?1ʝNv ?Ye Ba a a a a )a Ie 㥛=ie Ͽe +>e -\-@e d{>e -@ e 5>)e .@Ie 5a a &,Z?A2@2చ@2F9ٱ26? :AHRS rotation from veh to nav: [[0.121402,0.975337,0.184333],[-0.992603,0.119381,0.022067],[-0.000483,-0.185649,0.982616]]2H`2?5?9?h?? ި?Tǿ@q?i2@I2b];2xClN[?8?YD? <?)|I)+Ƚi5}checking for new query: numPingsReceived=3, elapsed TxPingTime=3.065014YDByIbE-4jE54rEsq0E  EE'E"EX;*E:VE'4ZEa@a@a@a@iUMb@Mb@Mb@QQQQ Q9U+?~jtx? rhYUv?yU;UCU7AU=@ Q)UAQYUAbDmVDmyȌ%'=ٔ9Q->9Y=fFyDE>Q 54?Q 94O)OXBY?Q E:y긿Q I?pCI:i:Y4y ɮ iA )iiZ?AJiBRiBjiR@b|_;A@ o -0shY#@R?1ʝNv ?Zi)+Ƚbi5jBYο@>2A$@ZbN$uQ?0BBIBBBBBB:w;B1EBmCBmCBiBiBm =CmŌ4Bɢ:) si)46bi<,DZ?AHYyI !%AAbD-VD-Fy= ;%=i=ٔ=Q-=>9AYA=EfFyEDEEM>DDAT read: Rx Time:04:13:30.6582 TRx dataTimestamp_ set to:1761538411.884262PDAT read: Bearing 89.5, -7.3 (Local) ~Local bearing/azimuth received: Bearing 89.5, -7.3 (Local) DAT read: Range 11 to 50 : 35.7 m (trip time 23.8 ms) speed 0.6 DAT read: 04:13:30.6582 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 506, 0.29,-2.365, 2.234,-2.029,-2.435, PHS= 0.172,-1.569, 0.362, RAW= 155.1, 11.2, CAL= 155.1, 12.4, ROT= 354.9, -12.4 Ygot valid direction response: 04:13:30.6582 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 506, 0.29,-2.365, 2.234,-2.029,-2.435, PHS= 0.172,-1.569, 0.362, RAW= 155.1, 11.2, CAL= 155.1, 12.4, ROT= 354.9, -12.4 R#Rx 4: Read range and direction messages.^direction in FSK: [0.972806,-0.086821,0.214735]Fpublishing direction and range infoyb9!?"G9h`r|?YB )BI 0>iȿX>?-@+H>?-@ k]>)6@Ik]PJ?\Iv?{R? X?)HIKik] checking for new query: numPingsReceived=4, elapsed TxPingTime=3.512972Q 54?Q 94R)HXBYy!Q I%?CI:iI:ٽ4y-Bɮ-~A-XEiiZ?AJiBRiBji~2@b HA@qchwqlz@Rb9!?"G9h`r|?ZiKbik]j2k@3Rl@A( @ZF_?$$^mb?2i :i&@"i{k?*imRBi_Biiii BiH@} addTargetRange:: Added new target pos. range: 35.700001 m, deltaT: 0.511587 s, deltaX: -0.500000 m, approachRate: -0.977351 m/s, rangeRepo size: 4  Added new target pos. range: 35.529198 m, bearing: 274.298600 deg, lat: 36.779379 deg, lon: -121.859569 deg, deltaT: 0.511587 s, deltaX: -0.497738 m, approachRate: -0.972929 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 35.53 m.bhRhZh ProNav: ac range: 35.529198 m, nav range: 34.386238 m, bearing: 274.454385 deg, approach rate: 0.000000 m/s, LOS rate: -0.044117 deg/s, cmd heading: 275.116878 deg, new cmd heading: 275.070190 deg. BhHeadingCmd: 4.800880 target range: 35.529198 and range: 35.70 m.hР@h*h"h hgfffdddjdA@ZdUg?D?AzD?AE $ E E )E "E g\;*E :VE FA4ZE BE 0M checking for new query: numPingsReceived=4, elapsed TxPingTime=3.749747 g,H[?A2b@2]@2"ٱ2? NAHRS rotation from veh to nav: [[0.111328,0.976437,0.184871],[-0.993784,0.109302,0.021145],[0.000440,-0.186075,0.982535]]2H@?>? ש?``7?@?@BynIbD VD ay%Q=ٔ *Q->9!Y)=-fFy5Dmd¼Em>Q 54?Q 94 )@XBY)yM7Q IU?CIPTp?h`l?YfB )@I>i ˿u>,@f>"-@ >)D@I@i?|H K?2c֪s? mT?)ւeIichecking for new query: numPingsReceived=5, elapsed TxPingTime=4.018372颕ÀBɢ) yi)Shim9iؽ+gP<$+BE CBE IBE bBBE =BA BE DBE 6w;BE 0E checking for new query: numPingsReceived=5, elapsed TxPingTime=4.253992^A r=A A ?I I O >8,*[?A2R;@2!6@2#J-ٱ2M>4 >AHRS rotation from veh to nav: [[0.106516,0.977141,0.183981],[-0.994311,0.104554,0.020362],[0.000661,-0.185104,0.982719]]2H`D?D??dĺ?ٔ?@DE?zǿnr?i2R;@I2-Y];2{CYFPByFIiMb@Mb@Mb@ 9%C?Mbp?~jthYZ$?y;D@ )YAbDVD0y=%/=ٔQ->9Y=fFyD7E>MgG9aQ 549YڝA=?Q 94=/)=?XBY[$?Q E:yQ I?=CI=Tp?h`l?Zibij @A::x"@Z8{iD̿>Aiw,@3,@ )o@I\7-Թ?ɔTD?C/? ?)fIiUchecking for new query: numPingsReceived=6, elapsed TxPingTime=4.523012EE * EE EE +EA "EE a;*EE O:VEE [4ZEA BEE 8 BAHRS rotation from veh to nav: [[0.097090,0.978157,0.183799],[-0.995275,0.095227,0.018955],[0.001038,-0.184771,0.982781]]6H`ڸ?@M?? K `?`h? Q?@ǿ@r?i6@I6d];6xCYFQByJIIN4=)N=bDRVDRyZK;%Z$=ٔ^9^ ?Yb ?=bfFybDbaEb>dQ 5j4fP?Q 9j4fg)f=XBYlynQ In?fCIfr;if;fէ4ypɮrmAtii$9[?AJiT BRiT Bjiؘ@bl-@@t+FXУ"S!@R-xQ?}{PU9Ql?ZibijXcV8@=-@@|'"@Zw?Sf'tnf ?2iB:i @"iȂM?*ioc-@Ulx>x-@ 0>)@I0PU`v?~n2?H0@? `?)5yIqi0uchecking for new query: numPingsReceived=7, elapsed TxPingTime=5.029013}B@y @y@}/@yEM EM EM*EI"EMW;*EM:VEM(N4ZEIaU@aU@aU@aU@ ^A <B >B B IB XBB B B B w;B 0EA ؟AI I! ! O5 >ط,h[?A.checking for new query: numPingsReceived=7, elapsed TxPingTime=5.2614046P̒@6Ǚ@6,ٱ6= BAHRS rotation from veh to nav: [[0.093033,0.978749,0.182742],[-0.995662,0.091240,0.018214],[0.001153,-0.183644,0.982992]]6Hѷ? Q?@d?`w`[??R? ǿt?i6P̒@I6X];6yCY nBy IiMb@Mb@Mb@ 9Zd;?~jth~jt?Y?yD<A A)YAbDVD1yK=%-=ٔ-Q->9"?Y"?=fFyD  E >Q 54?Q 9%4)GXBY ?Q E:yQ I? CIL?2i=:i=?"i=12?*i=LBi=-Bi=vbZ?i9i9i=eBi=m@ addTargetRange:: Added new target pos. range: 34.799999 m, deltaT: 0.505108 s, deltaX: -0.200001 m, approachRate: -0.395956 m/s, rangeRepo size: 4  Added new target pos. range: 34.632877 m, bearing: 273.103929 deg, lat: 36.779376 deg, lon: -121.859570 deg, deltaT: 0.505108 s, deltaX: -0.199154 m, approachRate: -0.394280 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 34.63 m.bhRhZh  ProNav: ac range: 34.632877 m, nav range: 33.349258 m, bearing: 273.920456 deg, approach rate: 0.000000 m/s, LOS rate: -0.038040 deg/s, cmd heading: 274.918256 deg, new cmd heading: 274.859568 deg. Bh HeadingCmd: 4.797204 target range: 34.632877 and range: 34.80 m.h@h*h"h hgf9fIfMBdQddjd`ffA@Zd@q9?I颍ˀBɢ ּ) 8i)r顑i24i4äQ<iͿĠ>,@k]>3,@ Ulx>)o@IUlxO,ܼ[?A2q@2@@2ٱ2(=>checking for new query: numPingsReceived=8, elapsed TxPingTime=5.765618 >AHRS rotation from veh to nav: [[0.090617,0.978973,0.182758],[-0.995884,0.088743,0.018426],[0.001820,-0.183676,0.982985]]2H`2?S?`d?`Hڷ?_ޒ?z]? ǿ t?i2q@I2];0YFwByFIHbDRVDRy==%-=ٔ% Q-%>9!Y)=-fFy-D-E5>1Q 5=45朝?Q 9E45)5QXBYAyEUQ IE?5ECI5:i5t:54yIɮU@AQiYi]y[?AJi]$BRi]$Bji]В@b]O>v@@d-L IZ @R]G^?ö\ؼʿ?Zi]bi]Ulxj]Y7 ??&Dcp@F՞V0!@Z]?;?ٙOv$)?2i]:i]?"i] 6?*i]E{MBi]Bi]ȂM?iYi]oBi]/Bi]fԘ@ addTargetRange:: Added new target pos. range: 34.200001 m, deltaT: 0.503445 s, deltaX: -0.599998 m, approachRate: -1.191786 m/s, rangeRepo size: 4  Added new target pos. range: 34.035763 m, bearing: 273.181765 deg, lat: 36.779375 deg, lon: -121.859570 deg, deltaT: 0.503445 s, deltaX: -0.597115 m, approachRate: -1.186057 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 34.04 m.bhRhZh ProNav: ac range: 34.035763 m, nav range: 33.046581 m, bearing: 273.640494 deg, approach rate: 0.000000 m/s, LOS rate: -0.038040 deg/s, cmd heading: 274.859571 deg, new cmd heading: 274.810420 deg. BhHeadingCmd: 4.796347 target range: 34.035763 and range: 34.20 m.h{@h*h"h hgfffdddjdA@Zd ?̀Bɢǚ߼) +i) ti2i%P%Q<%?i=j̿== >=Z,@=b>=,@ =}>)=u@I=}99=sP0 ?9re?)\8? =t?)=cI=i٠i=}99 checking for new query: numPingsReceived=9, elapsed TxPingTime=6.066404 E  E +E *E "E X;*E =;VE (N4ZE a @a @a @a @A I I O >9,0[?Aɰ2@2@2Cٱ2; :AHRS rotation from veh to nav: [[0.088459,0.979547,0.180729],[-0.996078,0.086638,0.017961],[0.001936,-0.181609,0.983369]]2H F?`rX?$"?-?`sd? _?>ǿw?i2@I2];2xCYbByb!I|BA4=B>BBIBbBB =BBBv;B0EimMb@Mb@Mb@iiii i9mCl?y&1|V-?Ymd?ym`廙m=%2=ٔ悹Q->9Y=fFyDE>Q 554힝?Q 954 )`XBY5?Q E5:y5Q I5?iCI;i};4yE*BɮEAEkEiqchecking for new query: numPingsReceived=9, elapsed TxPingTime=6.269700iu[?AJiuBRiuBjiu@buSYM@@8bd[N @Ru6?:(x/;f?Ziui٠biu}julP?kBF@D̹U!@ZuR?am ]?q?2iu4:iu?"iu3ie ʿe >e !,@e +H>e ,@ e k]>)e @Ie k]a a e ayO?dYŔ?? e /?)e 8.HIe )ie k]a a } checking for new query: numPingsReceived=10, elapsed TxPingTime=6.594453Թ D =D =E % E E )E "E O];*E :VE FA4ZE BE ^,[?ARɗ@R@R+ٱR-9 ZAHRS rotation from veh to nav: [[0.086647,0.979915,0.179609],[-0.996237,0.084829,0.017791],[0.002198,-0.180475,0.983577]]RHz.? v[?@o?+Z?7?`b?ǿvy?iRɗ@IRg5^;RwCYUByU9IbDeVDeky=%8=ٔQ->9Y=fFyD;E>Q 54Ҡ?Q 94$)nXBYyNQ I?CI:i:f4yɮ2A iiW[?AJiBRiBji@b $@@*$w@Rh-?ph`r|?Zi)bik]j=\?ђ@b@Z7]\ɬ?_kᅥ(q?2i:i?"iB'=?*i!JBiBiiLiBirBi鞘@} addTargetRange:: Added new target pos. range: 33.299999 m, deltaT: 0.505825 s, deltaX: -0.600002 m, approachRate: -1.186185 m/s, rangeRepo size: 4  Added new target pos. range: 33.140106 m, bearing: 273.308695 deg, lat: 36.779373 deg, lon: -121.859569 deg, deltaT: 0.505825 s, deltaX: -0.597122 m, approachRate: -1.180492 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 33.14 m.bhRhZh ProNav: ac range: 33.140106 m, nav range: 32.362183 m, bearing: 273.266399 deg, approach rate: 0.000000 m/s, LOS rate: -0.038040 deg/s, cmd heading: 274.756299 deg, new cmd heading: 274.705943 deg. BhHeadingCmd: 4.794523 target range: 33.140106 and range: 33.30 m.hl@h*h"h hgfffdddjd`f@@Zdb?mрBɢm_Э)q uiq)u:xqqiu\0i}|}WR<}k1,[?A.DAT read: 04:13:34.1565 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 505, 0.31, 2.140, 0.445, 2.432, 2.114, PHS= 0.128,-1.624, 0.274, RAW= 154.0, 13.3, CAL= 154.2, 14.9, ROT= 355.8, -14.9 2Ygot valid direction response: 04:13:34.1565 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 505, 0.31, 2.140, 0.445, 2.432, 2.114, PHS= 0.128,-1.624, 0.274, RAW= 154.0, 13.3, CAL= 154.2, 14.9, ROT= 355.8, -14.9 6T#Rx 11: Read range and direction messages.6^direction in FSK: [0.963781,-0.070776,0.257133]:Fpublishing direction and range infoyy}J?#f]Fht?Y}Byyyy y)yI}o>i};Ͽ}I>},@},m>}9>,@ }%>)}Y@I}%yy}ؓ?hf? 9/k? }˿?)}d|mI}i i}%yyfchecking for new query: numPingsReceived=11, elapsed TxPingTime=7.087266~@~䈙@~ٱ~u:6  AHRS rotation from veh to nav: [[0.085467,0.980637,0.176202],[-0.996339,0.083760,0.017113],[0.002023,-0.177019,0.984205]]~H%? `a?ƍ?@ Qq? ?B`?ƿ@~?i~@I~+^;~zCY=By=MIE] E]E]*EY"E]V;*E]O:VE](N4ZEYae@ae@ae@am@iMb@Mb@Mb@ 9(\?Q9Y=fFy D%s$E%>IQ 5e4MM?Q 94M)MXBY ?Q E:y"Q I?MCIMBBIBBB =BBBv;B0E hgfffBdddjd@@Zd@?=ӀBɢ]ʜ)Y ]}ia)e7yaaiew/imm7ARn,*W[?A>Ƈ@>@>bٱ>2 FAHRS rotation from veh to nav: [[0.084699,0.981301,0.172845],[-0.996405,0.083097,0.016498],[0.001826,-0.173621,0.984811]]>H@ܮ?`f??E??^]?@59ƿ?i>Ƈ@I>>'^;>wCYNրByNwIbDVVDVfy^C>%^e=ٔb:Q-b>9`Y`=ffFyfDf Ef>lQ 5r4nb?Q 9r4n)nXBYpyrCQ Ir?nCIn:in*:n4yxɮzAx B*** querying acoustic contact ***%DDAT read: Rx Time:04:13:34.6562 -TRx dataTimestamp_ set to:1761538415.917377EPDAT read: Bearing 90.5, -7.3 (Local) E~Local bearing/azimuth received: Bearing 90.5, -7.3 (Local) QuDAT read: Range 11 to 50 : 32.7 m (trip time 21.8 ms) speed 0.5 DAT read: 04:13:34.6562 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 503,-0.47,-1.687, 2.901,-1.377,-1.732, PHS= 0.146,-1.605, 0.311, RAW= 154.4, 12.4, CAL= 154.6, 13.9, ROT= 355.4, -13.9 i  i jhDNOT Ignoring new targets: 33.04 m.bhRhmLZhmL} ProNav: ac range: 33.040588 m, nav range: 31.898066 m, bearing: 273.259256 deg, approach rate: -0.525764 m/s, LOS rate: -0.011182 deg/s, cmd heading: 274.651332 deg, new cmd heading: 274.639414 deg. Bh}HeadingCmd: 4.793362 target range: 33.040588 and range: 33.20 m.h9c@Ygot valid direction response: 04:13:34.6562 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 503,-0.47,-1.687, 2.901,-1.377,-1.732, PHS= 0.146,-1.605, 0.311, RAW= 154.4, 12.4, CAL= 154.6, 13.9, ROT= 355.4, -13.9 T#Rx 12: Read range and direction messages.^direction in FSK: [0.967590,-0.077851,0.240228]Fpublishing direction and range infoy!%>~?%Sؼʿ?Y%B!!!! !)!I%>i%pͿ%d;>%iw,@%k]>%,@ %Ulx>)%(~@I%Ulxh*h"h hgfffdddjdY@@Zd9?!!%,u: ?8? Ƈ? %?)%4n^I%li%Ulx!!checking for new query: numPingsReceived=12, elapsed TxPingTime=7.589958EՀBɢEMfv)I M;iI)M/yIIiM4.iUUXR<]D{;*E]:VEFA4ZEBEi%>yJ@ @@4@ԩchecking for new query: numPingsReceived=12, elapsed TxPingTime=7.781637^A < A I9 Ia O >"w,\?Aq-@-腙@- !ٱ-, uAHRS rotation from veh to nav: [[0.085104,0.982257,0.167118],[-0.996372,0.083795,0.014882],[0.000614,-0.167778,0.985825]]-H]ɵ?n?d?`Gs?{z?@!"D? yſ ?i-@I-:^;-xCYByIi5Mb@Mb@Mb@1111 195bX9?I +y59115j@ 5A)5A1Y5AbDMVDMk1y]Ə=%]$=ٔeK;Q-e>9iYi=mfFymDmRU:Em>qQ 5}4ur?Q 94u )uXBY7>Q E:yQ¿Q I?uCIu" ;iuX ;u 4yɮ ADDAT read: Rx Time:04:13:35.1562 TRx dataTimestamp_ set to:1761538416.422582PDAT read: Bearing 91.7, -7.2 (Local) ~Local bearing/azimuth received: Bearing 91.7, -7.2 (Local) 5DAT read: Range 11 to 50 : 32.7 m (trip time 21.8 ms) speed 0.4 mDAT read: 04:13:35.1562 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 502,-0.18,-1.474, 3.122,-1.179,-1.493, PHS= 0.121,-1.623, 0.270, RAW= 154.0, 13.4, CAL= 154.3, 15.1, ROT= 355.7, -15.1 }Ygot valid direction response: 04:13:35.1562 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 502,-0.18,-1.474, 3.122,-1.179,-1.493, PHS= 0.121,-1.623, 0.270, RAW= 154.0, 13.4, CAL= 154.3, 15.1, ROT= 355.7, -15.1 T#Rx 13: Read range and direction messages.^direction in FSK: [0.962755,-0.072390,0.260505]Fpublishing direction and range infoyN?mQfJ0?Yԙ )I=iwϿq=>,@|o>Z,@ V>)@IV[?Gn?"ľ? -?)6(pI)iVii \?A checking for new query: numPingsReceived=13, elapsed TxPingTime=8.071412Ji,BRi,Bji@bHAtٿT?@3V @RN?mQfJ0?Zi)biVjBjN? hI?=!@Zfd)ի?4I@?2iO:it?"ik9?*i>/CBitBii!JiiAi@u addTargetRange:: Added new target pos. range: 32.700001 m, deltaT: 1.009481 s, deltaX: -0.500000 m, approachRate: -0.495304 m/s, rangeRepo size: 4  Added new target pos. range: 32.543121 m, bearing: 273.236266 deg, lat: 36.779373 deg, lon: -121.859568 deg, deltaT: 1.009481 s, deltaX: -0.497467 m, approachRate: -0.492795 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 32.54 m.bhRhZh ProNav: ac range: 32.543121 m, nav range: 31.605494 m, bearing: 273.266543 deg, approach rate: 0.000000 m/s, LOS rate: -0.011182 deg/s, cmd heading: 274.639420 deg, new cmd heading: 274.621688 deg. BhHeadingCmd: 4.793053 target range: 32.543121 and range: 32.70 m.h`@h*h"h hgfff?BdddjdZd%-?bEFA4jE#E4rEŮ1/E]/ E]-EYEY"E]af;*E]K;VEYZEYae@ae@ae@ae@e؀BɢeY) @=i)x顉i-iR<YB CB LIB BB =B B B v;B 0EBeCBeCBaBe =Be =Ces4  checking for new query: numPingsReceived=13, elapsed TxPingTime=8.285674^A oM<)A.AII9O] ?I ,S#5\?A>ݐ@>@>08ٱ>) FAHRS rotation from veh to nav: [[0.085805,0.982641,0.164484],[-0.996312,0.084643,0.014075],[-0.000092,-0.165085,0.986279]]>HR?q?@ ? )?,ӌ?#@!ſ?i>ݐ@I>s^;9b ?Yb ?=ffFyf$Dfa:Ef>hQ 5n4jk?Q 9n4j)jXBYlyrA¿pQ Ir?jCIj,;ij-;jw4yz5BɮzAztEjhDNOT Ignoring new targets: 32.54 m.bhRh8Zh8 ProNav: ac range: 32.543121 m, nav range: 31.388266 m, bearing: 273.268065 deg, approach rate: -0.522362 m/s, LOS rate: 0.003687 deg/s, cmd heading: 274.621689 deg, new cmd heading: 274.626289 deg. Bh!9HeadingCmd: 4.793133 target range: 32.543121 and range: 32.70 m.hXa@h*h"h hgfyffdddjdZdc?DDAT read: Rx Time:04:13:35.6559 TRx dataTimestamp_ set to:1761538416.926522 PDAT read: Bearing 87.5, -6.3 (Local) ~Local bearing/azimuth received: Bearing 87.5, -6.3 (Local) 5DAT read: Range 11 to 50 : 32.3 m (trip time 21.5 ms) speed 0.4 mDAT read: 04:13:35.6559 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 499, 0.32,-2.319, 2.232,-2.010,-2.449, PHS= 0.232,-1.557, 0.395, RAW= 154.3, 9.9, CAL= 154.1, 10.8, ROT= 355.9, -10.8 }Ygot valid direction response: 04:13:35.6559 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 499, 0.32,-2.319, 2.232,-2.010,-2.449, PHS= 0.232,-1.557, 0.395, RAW= 154.3, 9.9, CAL= 154.1, 10.8, ROT= 355.9, -10.8 T#Rx 14: Read range and direction messages.^direction in FSK: [0.979773,-0.070231,0.187381]Fpublishing direction and range infoyMZ?鲭0i?Y3B )Ihm>iKǿq=>Z,@;0>!,@ A>)@IA1|Ѓ?kȤ?._/? S?)1IiiAchecking for new query: numPingsReceived=14, elapsed TxPingTime=8.569590UۀBɢU&D)Q U?=iQ)]wYYi]>-ie e(R3,N\?AYzByzI ||bD VD !Qyy=%==ٔQ->9Y=fFy-DE>Q 554`?Q 9=4C)XBYAyAQ IM?CIt{@R5MZ?鲭0i?Zi5ibi5Aj5CQ?3|?6 a:>@Z5dh}?W' ?2i5:i5ż?"i5ܦ"?*i5gTBi5Bi1i1i1i5fAi5^@ԁ addTargetRange:: Added new target pos. range: 32.299999 m, deltaT: 0.503940 s, deltaX: -0.400002 m, approachRate: -0.793748 m/s, rangeRepo size: 4 u Added new target pos. range: 32.145195 m, bearing: 272.681799 deg, lat: 36.779373 deg, lon: -121.859568 deg, deltaT: 0.503940 s, deltaX: -0.397926 m, approachRate: -0.789630 m/s, posRepo size: 4 jhy}DNOT Ignoring new targets: 32.15 m.bhyRhZh ProNav: ac range: 32.145195 m, nav range: 31.175230 m, bearing: 273.269579 deg, approach rate: 0.000000 m/s, LOS rate: 0.003687 deg/s, cmd heading: 274.626279 deg, new cmd heading: 274.631730 deg. BhHeadingCmd: 4.793228 target range: 32.145195 and range: 32.30 m.h b@h*h"h hg DDAT read: Rx Time:04:13:36.1558 TRx dataTimestamp_ set to:1761538417.430318%PDAT read: Bearing 92.5, -7.3 (Local) -~Local bearing/azimuth received: Bearing 92.5, -7.3 (Local) EDAT read: Range 11 to 50 : 32.1 m (trip time 21.4 ms) speed 0.4 ffyfydddjd`f&@@Zd@ ,@ d{> iw,@ 0>) @I 0   '?v3\?lG? ?) I{I iFi 0  uހBɢu1)y } =iy)}`vyyi}(,i붾R<checking for new query: numPingsReceived=15, elapsed TxPingTime=9.080281ԩϒB B IB BB =B B DB v;B 0E^A < checking for new query: numPingsReceived=15, elapsed TxPingTime=9.295389 iiIɀGI Ez9AYEdAOM?ӱ, q\?ALL!e@4@y+;ٱ*  AHRS rotation from veh to nav: [[0.088423,0.982229,0.165550],[-0.996080,0.087630,0.012101],[-0.002621,-0.165971,0.986127]]H 梶?`ln?`0? `n?Ȉ?mxe>ſZ?ie@Ir ^;Y ByIiMb@Mb@Mb@ 9333333?y&1Q?Y>y`弙<@ ) AYAbD VD2y1=% =ٔ;Q->9Y=fFy8D ;E >Q 54?Q 94)XBY>Q E:yĿQ I%?8CI* ;iP ;&4y)ɮ-@A)iAiEU[\?AJiEARiEAjiE@bEct>@f,^Io|e!@REB?V岿 ^ m?ZiEiFbiE0jEfuV?6gE> !@ZE9cc?/rr!V?2iE :iE?"iEHA?*iE@DBiEԒBiEB'=?iEEiEbBiEAiE@} addTargetRange:: Added new target pos. range: 32.099998 m, deltaT: 0.503796 s, deltaX: -0.200001 m, approachRate: -0.396988 m/s, rangeRepo size: 4  Added new target pos. range: 31.946327 m, bearing: 273.425961 deg, lat: 36.779373 deg, lon: -121.859566 deg, deltaT: 0.503796 s, deltaX: -0.198868 m, approachRate: -0.394739 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 31.95 m.bhRhZh ProNav: ac range: 31.946327 m, nav range: 30.733465 m, bearing: 273.337084 deg, approach rate: 0.000000 m/s, LOS rate: 0.003687 deg/s, cmd heading: 274.631743 deg, new cmd heading: 274.637323 deg. BhHeadingCmd: 4.793325 target range: 31.946327 and range: 32.10 m.hb@h*h"h hgfffnBdddjd @@Zda?Bɢ)  =i)Bui+iS<{!i%Nbп%C>%>+@%k>%o+@ % A>)%>@I% A!!%[?^K+qMC?,F<6?? %Z?)%lI%)gi% A!!checking for new query: numPingsReceived=16, elapsed TxPingTime=9.579952EF@A @A@M61@IE- EEE"Ed;*E:VEZEBE=",)\?A2@2Z@2m;ٱ2* >AHRS rotation from veh to nav: [[0.089535,0.982148,0.165435],[-0.995977,0.088896,0.011280],[-0.003627,-0.165780,0.986156]]2H ?m?,?@ ?:? m@C8ſ?i2@I2];Bchecking for new query: numPingsReceived=16, elapsed TxPingTime=9.7976322yCY^BybIbDjVDjy%yd%%p=ٔ-A;Q--?9)Y)=5fFy5?D5V;E5?9Q 5E4=?Q 9E4=l")=XBYIyMeĿQ IM?=KCI=:i=9:=,4yQɮUAYiiim{\?AJim.ARim.Ajimz@bm>@9u!˵'+ @RmMK?.Wհl39Y?Zim)gbim Ajm8k6@jy>h\i @ZmhNd?^Y?2im:im@"im,SR?*imטDBimmBimHA?imטDiiimkAimp@ԙ addTargetRange:: Added new target pos. range: 31.799999 m, deltaT: 0.504188 s, deltaX: -0.299999 m, approachRate: -0.595015 m/s, rangeRepo size: 4  Added new target pos. range: 31.647764 m, bearing: 273.801912 deg, lat: 36.779374 deg, lon: -121.859565 deg, deltaT: 0.504188 s, deltaX: -0.298563 m, approachRate: -0.592166 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 31.65 m.bhRhZh ProNav: ac range: 31.647764 m, nav range: 30.552696 m, bearing: 273.430953 deg, approach rate: 0.000000 m/s, LOS rate: 0.003687 deg/s, cmd heading: 274.637317 deg, new cmd heading: 274.641091 deg. BhHeadingCmd: 4.793391 target range: 31.647764 and range: 31.80 m.hvc@h*h"h hgfffdddjd?@Zd ?Bɢ%%)! %=i!)%5t))i-?+i-5:S<) DAT read: 04:13:37.1556 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 512,-0.06, 1.626,-0.471, 1.618, 1.239, PHS= 0.488,-1.665, 0.335, RAW= 146.3, 8.1, CAL= 145.9, 8.8, ROT= 4.1, -8.8  Ygot valid direction response: 04:13:37.1556 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 512,-0.06, 1.626,-0.471, 1.618, 1.239, PHS= 0.488,-1.665, 0.335, RAW= 146.3, 8.1, CAL= 145.9, 8.8, ROT= 4.1, -8.8  T#Rx 17: Read range and direction messages. \direction in FSK: [0.985699,0.070656,0.152986]% Fpublishing direction and range infoyY]+<ي??8C ?YYYYYY Y)YI]#>i]տ]>].k#@]>]"@ ]nF>)]C=I]nFYY]-b? 9?fE ? ]t>)]I]C=i]nFYY] checking for new query: numPingsReceived=17, elapsed TxPingTime=10.087198E " E #E )E "E Z;*E ;VE FA4ZE a @a @a @a @! V(,玤\?A2g@26@2DQ;ٱ2tT+ :AHRS rotation from veh to nav: [[0.091584,0.981816,0.166282],[-0.995785,0.091128,0.010388],[-0.004954,-0.166533,0.986023]]2H r?@ k?H?x'T?`zF?#Jt Pſ ?i2g@I22];2xCYPyPIV=)V4y-Լ-<-dA-@ -CA)- A)Y-zAbDEVDE:3ٔUsT;Q-U>9QB]<A]<Be>BeCBeIBe BBe =BaBeDBev;Be0EY=fFyGD;E>Q 54?Q 94&)XBY*>Q E ;yſQ I?_CI;i';m34yɮii2\?AJi-ARi-AjiΜ@bws1?@5_`x@]@R+<ي??8C ?ZiC=binFj!Zn@o)>/|@ZMװ?YN@ 'u3j-?2iy:ip@"iጕ?*iPBiBiiimBi%Ai@ addTargetRange:: Added new target pos. range: 31.799999 m, deltaT: 0.506080 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 31.647358 m, bearing: 280.764565 deg, lat: 36.779374 deg, lon: -121.859565 deg, deltaT: 0.506080 s, deltaX: -0.000406 m, approachRate: -0.000803 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 31.65 m.bhRhZh ProNav: ac range: 31.647358 m, nav range: 30.393164 m, bearing: 273.439631 deg, approach rate: 0.000000 m/s, LOS rate: 0.003687 deg/s, cmd heading: 274.641087 deg, new cmd heading: 274.645882 deg. BhHeadingCmd: 4.793475 target range: 31.647358 and range: 31.80 m.h&d@h*h"h h g f f)f5yBd1d1d1jd9Zd= #.?颅Bɢؠ4) p=checking for new query: numPingsReceived=17, elapsed TxPingTime=10.306985i) t顉iN*iԮS<`\ DAT read: 04:13:37.6554 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 510, 0.04, 1.658,-0.088, 1.957, 1.594, PHS= 0.166,-1.638, 0.319, RAW= 154.1, 12.2, CAL= 154.2, 13.6, ROT= 355.8, -13.6  Ygot valid direction response: 04:13:37.6554 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 510, 0.04, 1.658,-0.088, 1.957, 1.594, PHS= 0.166,-1.638, 0.319, RAW= 154.1, 12.2, CAL= 154.2, 13.6, ROT= 355.8, -13.6  T#Rx 18: Read range and direction messages. ^direction in FSK: [0.969351,-0.071185,0.235142] Fpublishing direction and range infoyq u y?ѕj+9#?Yu Aq q q q q )u BIu )>iu ѿu S>u !,@u ^ Z>u 9>,@ u s>)u Y@Iu sq q u ?b?Ni ? u ?)u iZIu i iu sq q 5 checking for new query: numPingsReceived=18, elapsed TxPingTime=10.584399`.,؂\?Aj"Ӓ@j͙@jA;ٱj*- rAHRS rotation from veh to nav: [[0.093860,0.981287,0.168125],[-0.995567,0.093544,0.009815],[-0.006096,-0.168301,0.985717]]jH8?f? !??@?xſ?ij"Ӓ@Ij];hY%By%IbD5VD5:yE%E<ٔM9;Q-M>DIDM<EU EUEU'EQ"EUV;*EUx:VEU'4ZEQBEU|yQ 54}a?Q 94}*)}XBYyĿQ I?}rCI};i}:;}Y:4yɮAii\?AJiARiAji˘@br@6Rc>@.P;GV|@Ry?ѕj+9#?Zii bisj2>m?c>-i%l@IZZ?{}?\B<r?2i:il?"iOH?*iIBiBiOH?iIiBiAi˘@ addTargetRange:: Added new target pos. range: 31.500000 m, deltaT: 0.505622 s, deltaX: -0.299999 m, approachRate: -0.593327 m/s, rangeRepo size: 4  Added new target pos. range: 31.348799 m, bearing: 273.580823 deg, lat: 36.779374 deg, lon: -121.859568 deg, deltaT: 0.505622 s, deltaX: -0.298559 m, approachRate: -0.590479 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 31.35 m.bhRhZh ProNav: ac range: 31.348799 m, nav range: 30.449104 m, bearing: 273.580926 deg, approach rate: 0.000000 m/s, LOS rate: 0.003687 deg/s, cmd heading: 274.645895 deg, new cmd heading: 274.650360 deg. BhHeadingCmd: 4.793553 target range: 31.348799 and range: 31.50 m.hd@h*h"h hgfffdddjd?@Zd"?=BɢEgSH)A E=iA)MsIIiMF[)iUGUS 5,P\?A@ܙ@;;ٱ- AHRS rotation from veh to nav: [[0.095638,0.980994,0.168830],[-0.995390,0.095487,0.009032],[-0.007261,-0.168916,0.985604]]H{?Nd?@;?;`q?_?@v}ſ?i@IN];vCYByIDDAT read: Rx Time:04:13:38.1554 %TRx dataTimestamp_ set to:1761538419.449080-PDAT read: Bearing 90.6, -6.2 (Local) -~Local bearing/azimuth received: Bearing 90.6, -6.2 (Local) =DAT read: Range 11 to 50 : 31.5 m (trip time 21.0 ms) speed 0.2 eDAT read: 04:13:38.1554 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 510, 0.19,-2.775, 1.802,-2.505,-2.840, PHS= 0.167,-1.596, 0.291, RAW= 153.4, 12.4, CAL= 153.5, 13.8, ROT= 356.5, -13.8 mYgot valid direction response: 04:13:38.1554 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 510, 0.19,-2.775, 1.802,-2.505,-2.840, PHS= 0.167,-1.596, 0.291, RAW= 153.4, 12.4, CAL= 153.5, 13.8, ROT= 356.5, -13.8 uT#Rx 19: Read range and direction messages.}^direction in FSK: [0.969323,-0.059286,0.238533]}Fpublishing direction and range infoy!%Q?’ZiC?Y!!!!! !)%@I% +>i%I̿%>%uY+@%k]>%v+@ %Ϣv>)%o@I%Ϣv!!%}F?śZ0?}yY? %j?)%]I%5zi%Ϣv!!uchecking for new query: numPingsReceived=19, elapsed TxPingTime=11.106039i5Mb@Mb@Mb@1111 1Em$ Em Em*Ei"Emg\;*Em:VEm(N4ZEiau@au@au@au@95T㥛 ?MbPY5>y5̼55A1 5A)11Y1bDVDyo%=ٔ%5;Q-%>9!Y)=-fFy-ZD-^;E->1Q 5]45᨝?Q 9e45/)5XBYer>Q Ee ;ye6ſQ Im?5CI5;i57<5C4yɮiAi!i%\?AJi!Ri!ji%C@b%v@c>@K3@R%Q?’ZiC?Zi%5zbi%Ϣvj%wb@8`[>SI@Z%) *'?U/mDy?2i%:i%@"i%jDn?*i%?NBi%ՏBi%,SR?i!i!i%Ai%@ addTargetRange:: Added new target pos. range: 31.500000 m, deltaT: 0.502872 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 31.348799 m, bearing: 274.417943 deg, lat: 36.779375 deg, lon: -121.859568 deg, deltaT: 0.502872 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 31.35 m.bhRhZh ProNav: ac range: 31.348799 m, nav range: 30.258183 m, bearing: 273.810412 deg, approach rate: 0.000000 m/s, LOS rate: 0.003687 deg/s, cmd heading: 274.650349 deg, new cmd heading: 274.656274 deg. BhHeadingCmd: 4.793656 target range: 31.348799 and range: 31.50 m.he@h*h"h hgff1f5]Bd1d1d9jd9Zd=j?B]>BYB]IB]BBYBYBYB]v;B]0E颅Bɢ{) @i)s顩i'i⨾cT<<9M"?YM"?=MfFyMbD]DDAT read: Rx Time:04:13:38.6552 eTRx dataTimestamp_ set to:1761538419.952841mPDAT read: Bearing 91.3, -6.3 (Local) m~Local bearing/azimuth received: Bearing 91.3, -6.3 (Local) DAT read: Range 11 to 50 : 31.2 m (trip time 20.8 ms) speed 0.2 DAT read: 04:13:38.6552 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 508, 0.37, 2.304, 0.603, 2.574, 2.258, PHS= 0.148,-1.610, 0.272, RAW= 153.4, 13.0, CAL= 153.5, 14.5, ROT= 356.5, -14.5 [;E>Q 54N?Q 943)YyĿQ I?CI:i:J4y@Bɮ6A}EYgot valid direction response: 04:13:38.6552 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 508, 0.37, 2.304, 0.603, 2.574, 2.258, PHS= 0.148,-1.610, 0.272, RAW= 153.4, 13.0, CAL= 153.5, 14.5, ROT= 356.5, -14.5 T#Rx 20: Read range and direction messages.^direction in FSK: [0.966342,-0.059104,0.250380]Fpublishing direction and range infoyY]+IE?#B=9?Y]AYYYY Y)YI]P>i]{ο]C>ԩiYi]Y\?AJi]fARi]fAji]e@b]-R>@&7\dob@R]+IE?#B=9?ZiYbi]j]DW` @1p=@Y]Vh>Y ]>)YI]YY]BAf ?e%Z'?v*? ] ?)]=hIYi]YYchecking for new query: numPingsReceived=20, elapsed TxPingTime=11.618607Z]0 #?:XS*Gƍa?2i]:i]Q@"i]/ w?*i]rcHBi]IBi]jDn?iYiYi]Ai]H@] addTargetRange:: Added new target pos. range: 31.200001 m, deltaT: 0.503761 s, deltaX: -0.299999 m, approachRate: -0.595519 m/s, rangeRepo size: 4 D@AzD@AE# EE$E"E[;*EA:VE4ZEBEgcE,|]?AN@Nx@N[!<ٱNT0 nAHRS rotation from veh to nav: [[0.100360,0.980003,0.171818],[-0.994902,0.100557,0.007581],[-0.009848,-0.171703,0.985099]]NH5?/\?#?=? ?``+^ſ`?iN@INW];NxCY ɀBygIbDVD:yUh%]*=ٔX9;Q->9Y=fFylD;E>Q 54֩?Q 948)Y y ĿQ I ?CIt:i:1S4yɮA-DDAT read: Rx Time:04:13:39.1553 -TRx dataTimestamp_ set to:1761538420.456757=PDAT read: Bearing 91.4, -6.6 (Local) =~Local bearing/azimuth received: Bearing 91.4, -6.6 (Local) MDAT read: Range 11 to 50 : 31.4 m (trip time 20.9 ms) speed 0.3 uDAT read: 04:13:39.1553 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 509,-0.37, 1.122,-0.565, 1.397, 1.082, PHS= 0.141,-1.602, 0.271, RAW= 153.6, 13.1, CAL= 153.8, 14.6, ROT= 356.2, -14.6 }Ygot valid direction response: 04:13:39.1553 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 509,-0.37, 1.122,-0.565, 1.397, 1.082, PHS= 0.141,-1.602, 0.271, RAW= 153.6, 13.1, CAL= 153.8, 14.6, ROT= 356.2, -14.6 }T#Rx 21: Read range and direction messages.^direction in FSK: [0.965582,-0.064134,0.252069]Fpublishing direction and range infoy)-} ? k!?Y-3A)))) ))-?I-Nb>i-VͿ->-+@- j>-+@ -w>)-@I-w))-J8?T4Pz;?@9/? -4?)-aiI-Ӈi-w))checking for new query: numPingsReceived=21, elapsed TxPingTime=12.089561i)i-;]?AJi-ARi-Aji-[@b- Yz,>@¨swDli @R-} ? k!?Zi-Ӈbi-wj-|i@W@0g)>fcɿ9@Z-V2γ?4:;]?2i-K:i-@"i-$u?*i-RBi-fBi-$u?i-?Ni)i-Ai-?^@m addTargetRange:: Added new target pos. range: 31.400000 m, deltaT: 0.503916 s, deltaX: 0.199999 m, approachRate: 0.396889 m/s, rangeRepo size: 4  Added new target pos. range: 31.249290 m, bearing: 274.582726 deg, lat: 36.779379 deg, lon: -121.859569 deg, deltaT: 0.503916 s, deltaX: 0.199039 m, approachRate: 0.394985 m/s, posRepo size: 4 jhVStarting intercept timer at range: 31.40 m.DNOT Ignoring new targets: 31.25 m.bhRhZh= ProNav: ac range: 31.249290 m, nav range: 30.115620 m, bearing: 274.604612 deg, approach rate: 0.000000 m/s, LOS rate: 0.003687 deg/s, cmd heading: 274.660949 deg, new cmd heading: 274.666264 deg. Bh9EHeadingCmd: 4.793831 target range: 31.249290 and range: 31.40 m.hEg@hA*hA"hA hAgIfIfIE} E}E})Ey"E}>T;*E}&:VE}FA4ZEya@a@a@a@fIdddjd`ff?@Zd ?Bɢ) i)uiX$i, euU< ?BMCBMIBM BBM =BIBMDBMv;BM0E checking for new query: numPingsReceived=21, elapsed TxPingTime=12.322462Q ^A <A .AII)OU>L,b4]?AJ @J@J%<ٱJ6I/ VAHRS rotation from veh to nav: [[0.100867,0.980185,0.170480],[-0.994848,0.101113,0.007258],[-0.010124,-0.170334,0.985334]]JH`eҹ?]?`M?`?<}?@߻ ſۇ?iJ @IJY];JvCY^By^NIi=Mb@Mb@Mb@9999 99=A`"?I +~jtY=>y=9==zA9 =ZA)99Y= A U49m ?Ym ?=ufFyuuDu?:E}>yQ 54}{?Q 94}o=)}XBY>Q E:yÿQ I?}CI}:i}:}Z4yɮXAB*** querying acoustic contact ***i ijhTStopped intercept timer at range: 31.40 m.DNOT Ignoring new targets: 31.25 m.bhRhM:ZhM:] ProNav: ac range: 31.249290 m, nav range: 29.934948 m, bearing: 274.617772 deg, approach rate: -0.469988 m/s, LOS rate: 0.034440 deg/s, cmd heading: 274.666277 deg, new cmd heading: 274.705994 deg. Bh]:eHeadingCmd: 4.794524 target range: 31.249290 and range: 31.40 m.hel@ha*ha"hi higfff?BdddjdZd`|?EBIɢmż)i u*iq)uwqqiuK"isU<`i5Rο5>5o+@5f_>5,@ 5Ulx>)5@I5Ulx115f?||l?Վ? 5s?)5WH_I5)i5Ulx11checking for new query: numPingsReceived=22, elapsed TxPingTime=12.628365qE+ EE'E"Eb;*E:VE'4ZEBEvS,'N]?A@R- @R@RӴ&<ٱR. ZAHRS rotation from veh to nav: [[0.100787,0.980252,0.170140],[-0.994856,0.101046,0.007159],[-0.010175,-0.169987,0.985394]]RH`+͹?9^?'?@ %޹?NR}?քſX?iR- @IRz!];PYbByb&IbDjVDjk1yrB)%vS=ٔv 9Q-v>9tYx=zfFyz}DzMYEz>|Q 54~?Q 9 4~A)~XBY y ÿQ I ?~CI~p:i~F:~da4yɮ^Aiiim~=]?AJimeARimeAjim,@bm_,>@MvVNj @Rmn?Im׮Uؼʿ?Zim)bimUlxjmme@ jL>^9.@Zmc+t?dV>"?2im:imC@"img?*imVXBimbBimjDn?iiiiimAimJ@e addTargetRange:: Added new target pos. range: 31.200001 m, deltaT: 0.504093 s, deltaX: -0.199999 m, approachRate: -0.396750 m/s, rangeRepo size: 4  Added new target pos. range: 31.049751 m, bearing: 274.257159 deg, lat: 36.779378 deg, lon: -121.859569 deg, deltaT: 0.504093 s, deltaX: -0.199539 m, approachRate: -0.395838 m/s, posRepo size: 4 jhVStarting intercept timer at range: 31.20 m.DNOT Ignoring new targets: 31.05 m.bhRhZh!U ProNav: ac range: 31.049751 m, nav range: 29.764229 m, bearing: 274.469588 deg, approach rate: 0.000000 m/s, LOS rate: 0.034440 deg/s, cmd heading: 274.706001 deg, new cmd heading: 274.747643 deg. BhQUHeadingCmd: 4.795251 target range: 31.049751 and range: 31.20 m.h]r@hY*hY"hY hYgYfYfafadadadijdm@33?@Zd Gs?ԩBɢ ) >Hi)yi| itnV<  mv+@mb>m>+@ md{>)m@Imd{iim$sN?q;?-.? m?)m&bIm)Aimd{iimchecking for new query: numPingsReceived=23, elapsed TxPingTime=13.112306bEjE:4rEɻ0E  E %E )E "E V;*E ;VE FA4ZE a @a @a @a @ ^A <A= ؟AIA IQ Ba Ba Be IBe BBa Ba Ba Be w;Be 0EBBBBBC05O >Y,\h]?ATZ@Z@Z!<ٱZZ. fAHRS rotation from veh to nav: [[0.100128,0.980375,0.169819],[-0.994925,0.100348,0.007306],[-0.009878,-0.169689,0.985448]]ZH ?@<_??nl?}?;[ſʈ?iZ@IZ0];ZxCYByIuchecking for new query: numPingsReceived=23, elapsed TxPingTime=13.330195iMb@Mb@Mb@ 9 ףp= ?QV-YQ>yudA@ A) AYQAbDVDye4%e&=ٔe+Q-m>9m"?Ym"?=mfFymDuEu>yQ 54}C?Q 94}H)}XBY>Q E:ylQ I?}CI}:i}@:}i4yɮAiiim{^]?AJimARimAjimU@bme4=@˺jyv<@Rmfp?@Zd= ?颅Bɢ) ei)}}顩iimWOV<i% %ѿ% '1>% +@% |o>% o+@ % >)% >@I% ! ! % r2?oJ-=?M? % c<?)% oI% )gi% ! !  checking for new query: numPingsReceived=24, elapsed TxPingTime=13.611330- 0:DI1 )5 fAE}  E} E} *Ey "E} >T;*E} :VE} (N4ZEy BE} "9Y=fFyD E>!Q 5-4%?Q 9-4%O)%XBY1y5Q I5?%'CI%7;i%;%_t4y9ɮ=A9i)i-~]?AJi-ARi-Aji-K@b-KX=@T]O<߆@R-VU?;E ѰV!}?Zi-)gbi- j-Be)E_@`IW=8mJ@Z-4N?wtxnp?2i-:i-@"i-E@Zda?颵Bɢ) i)%z!)i-Zie45mW<+@ A>>+@ ;>)@I;5?(B B FIB BB B B DB v;B 0E A@  @ @ 90@  checking for new query: numPingsReceived=25, elapsed TxPingTime=14.338111G%9!Y-jAA^AM<AIIO?m,+ڸ]?A\Y=VByEIiMb@Mb@Mb@ 9@5^I ?MbpV-Yb?yMA )AYAbDVDy%0%%=ٔ-Q-->9)Y1=5fFy5D5E5>9Q 5E4='?Q 9E4=X)=XBYM?Q EM:yMPQ IM?=SCI=\ ;i= ;=!4yUNBɮUA]EiiAE]?AJiARiAji~@b9 4=@ph~x!@R"n ?Md:gd?Zi)Abi;j歅̈J@5:=D_R!@Z~uR?!']4?2i:iT"@"ih 䅞?*i xUBiBii xUiijAiW@DDAT read: Rx Time:04:13:41.6544 TRx dataTimestamp_ set to:1761538422.977195PDAT read: Bearing 94.3, -6.7 (Local) ~Local bearing/azimuth received: Bearing 94.3, -6.7 (Local) DAT read: Range 11 to 50 : 30.2 m (trip time 20.1 ms) speed 0.4 DAT read: 04:13:41.6544 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 500,-0.02,-1.997, 2.641,-1.745,-1.967, PHS= 0.073,-1.630, 0.178, RAW= 153.0, 15.5, CAL= 153.5, 17.6, ROT= 356.5, -17.6 Ygot valid direction response: 04:13:41.6544 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 500,-0.02,-1.997, 2.641,-1.745,-1.967, PHS= 0.073,-1.630, 0.178, RAW= 153.0, 15.5, CAL= 153.5, 17.6, ROT= 356.5, -17.6  T#Rx 26: Read range and direction messages.^direction in FSK: [0.951413,-0.058191,0.302370]Fpublishing direction and range infoy3q?ρ1˭-JZ?YA )?I=iףпE6>*@c>v+@ nF>)o@InF A?|[? ? 8J?)$I5zinFchecking for new query: numPingsReceived=26, elapsed TxPingTime=14.618055 addTargetRange:: Added new target pos. range: 30.600000 m, deltaT: 0.504115 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 30.452744 m, bearing: 274.984007 deg, lat: 36.779379 deg, lon: -121.859573 deg, deltaT: 0.504115 s, deltaX: 0.000143 m, approachRate: 0.000284 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 30.45 m.bhRhZh ProNav: ac range: 30.452744 m, nav range: 29.176929 m, bearing: 274.559197 deg, approach rate: 0.000000 m/s, LOS rate: 0.034440 deg/s, cmd heading: 274.858560 deg, new cmd heading: 274.922177 deg. Bh%HeadingCmd: 4.798297 target range: 30.452744 and range: 30.60 m.h%@h!*h!"h) h)g)f)f1f5Bd1d1d1jd=@33>@Zd=?颅Bɢ`) 3i)ᄼ顉iiX<DiM> @@  @ @ 0@ 9 e checking for new query: numPingsReceived=26, elapsed TxPingTime=14.842328i ^A u<AqIIO?v,#]?A DDAT read: Rx Time:04:13:42.1543 %TRx dataTimestamp_ set to:1761538423.485211EPDAT read: Bearing 89.0, -5.3 (Local) U~Local bearing/azimuth received: Bearing 89.0, -5.3 (Local) DAT read: Range 11 to 50 : 30.0 m (trip time 20.0 ms) speed 0.4 UDAT read: 04:13:42.1543 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 499, 0.20,-1.368,-3.104,-1.112,-1.486, PHS= 0.220,-1.573, 0.330, RAW= 153.0, 11.1, CAL= 152.9, 12.2, ROT= 357.1, -12.2 ]Ygot valid direction response: 04:13:42.1543 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 499, 0.20,-1.368,-3.104,-1.112,-1.486, PHS= 0.220,-1.573, 0.330, RAW= 153.0, 11.1, CAL= 152.9, 12.2, ROT= 357.1, -12.2 eT#Rx 27: Read range and direction messages.%)˒@%ř@%1;ٱ%, 5AHRS rotation from veh to nav: [[0.092891,0.981398,0.168018],[-0.995649,0.092803,0.008394],[-0.007354,-0.168067,0.985748]]%HǷ?g?@?[?@1?`~:ſ??i%)˒@I%k];%wCEE EEEE+EA"EE[I;*EEx:VEE [4ZEAaU@aU@aU@aU@e^direction in FSK: [0.976164,-0.049450,0.211325]eFpublishing direction and range infoyKǢiXɿ>aF>{*@ ^ Z>)8q@I^ ZFZ?Rk8 ? A΍? 9?)EIQQOi^ Zchecking for new query: numPingsReceived=27, elapsed TxPingTime=15.183353Y>ByIiMb@Mb@Mb@ 9x?Mb`BBIB|BB =BBDBv;B0Ey%<ٔR]Q->9Y=gFyDOE> Q 554 ?Q 954 Lc) XBY=P?Q E=:y=轿Q I=? CI ":i : 4yAɮEAAii ]?AJiARiAji#W@b h}$=@6n7\Sb!<@RKǢ@Zdq?] Bɢ]Z})Y ]˾i)_顁i iJ罿NZX<ˍi]п]P>]o+@]b>]!,@ ]}>)]@I]}YY]?d~|/n?h#q!? ]U?)]HbI]ii]}YYchecking for new query: numPingsReceived=28, elapsed TxPingTime=15.617519AIIO ?q,^?AF@EN ENELEL"ENL;*EN]:VELZELBEN91Y1==gFy=D=/CE=>AQ 5m4E?Q 9m4Ej)EXBYqyuQ Iu?ECIE;iEz;EH4yyɮ}Ayii]?AJiARiAji@bK{<@ùUP@RsJ"_?Lk/;f?Ziibi}j#?r,uR{ dž,p^?AuDDAT read: Rx Time:04:13:43.1540 TRx dataTimestamp_ set to:1761538424.492565PDAT read: Bearing 92.2, -6.2 (Local) ~Local bearing/azimuth received: Bearing 92.2, -6.2 (Local) DAT read: Range 11 to 50 : 29.4 m (trip time 19.6 ms) speed 0.6 DAT read: 04:13:43.1540 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 511,-0.10,-0.968,-2.663,-0.717,-0.995, PHS= 0.129,-1.623, 0.234, RAW= 152.9, 13.9, CAL= 153.1, 15.5, ROT= 356.9, -15.5 Ygot valid direction response: 04:13:43.1540 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 511,-0.10,-0.968,-2.663,-0.717,-0.995, PHS= 0.129,-1.623, 0.234, RAW= 152.9, 13.9, CAL= 153.1, 15.5, ROT= 356.9, -15.5 T#Rx 29: Read range and direction messages.^direction in FSK: [0.962220,-0.052112,0.267238]Fpublishing direction and range infoyy}HV? i֚n?Y}3Ayyyy y)}>I}>i}wϿ}o>}{*@}Ulx>}+@ }c>)}T@I}cyy}aQ?0(.?G? }H?)}wI}Q]i}cyychecking for new query: numPingsReceived=29, elapsed TxPingTime=16.155043Y8ByIE EE)E"EW;*E:VEFA4ZEa@a@a@a@!iMb@Mb@Mb@ 9-?Mbp?9 ?Y ?=gFyDE>AAAABBBIBSBBBBBv;B0EQ 554?Q 9=4s)XBY=:?Q E=:y=Q I=?CIP(iw,@>c-@ >)DS@Iqy}?D?3!VP? >?)ԉI%i=checking for new query: numPingsReceived=30, elapsed TxPingTime=16.622547AIIO?_,A^?AEU EU!EU(EQ"EU>T;*EU:VEUc44ZEQBEU"ſa?iun@Iu+C];uyCYBByIbD=VD=βiyu$(=%u,=ٔ}ȻQ-}>9yYy=}gFy}DGE>Q 54九?Q 94z)XBYyyQ I?CI:i:Ƥ4yɮAii'?^?AJiARiAjib,A\^?AF\@FW@F.':ٱF) NAHRS rotation from veh to nav: [[0.079489,0.983280,0.163836],[-0.996836,0.078513,0.012434],[-0.000637,-0.164306,0.986409]]FHfY?@w??`q?v?Dſ@?iF\@IF:];FvCYZTByZIbDeVDe02DDAT read: Rx Time:04:13:44.1534 TRx dataTimestamp_ set to:1761538425.501018PDAT read: Bearing 91.6, -6.6 (Local) ~Local bearing/azimuth received: Bearing 91.6, -6.6 (Local) UDAT read: Range 11 to 50 : 28.5 m (trip time 19.0 ms) speed 0.6 ԙDAT read: 04:13:44.1534 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 505, 0.20, 0.402,-1.314, 0.677, 0.369, PHS= 0.135,-1.638, 0.264, RAW= 153.5, 13.4, CAL= 153.7, 15.0, ROT= 356.3, -15.0 Ygot valid direction response: 04:13:44.1534 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 505, 0.20, 0.402,-1.314, 0.677, 0.369, PHS= 0.135,-1.638, 0.264, RAW= 153.5, 13.4, CAL= 153.7, 15.0, ROT= 356.3, -15.0 T#Rx 31: Read range and direction messages.^direction in FSK: [0.963912,-0.062334,0.258819]Fpublishing direction and range infoynTi^?1꯿V!}?YA )@Iq= >iѿ+>v+@y=%==ٔTQ->9Y=gFy D UE >|o>>+@  >)@I 6 ٸ:?=,? Y(? *?)7oI)Ai %checking for new query: numPingsReceived=31, elapsed TxPingTime=17.154524Q 554ֻ?Q 954)XBYQyUQ I]?CIW;i;+4yaɮe1Aaii`^?AJiARiAji@b\ƖV;@87OЋI]]@RnTi^?1꯿V!}?Zi)Abi j3kW3? rSL;cbw@Zr!,?6WЕ.?2if:i?"iE?*i2٪OBi[BiE?iE EE*E"E*E:VE(N4ZEa%@a%@a%@a%@i[BiAiJ@E addTargetRange:: Added new target pos. range: 28.500000 m, deltaT: 0.508272 s, deltaX: -0.500000 m, approachRate: -0.983725 m/s, rangeRepo size: 4  Added new target pos. range: 28.362785 m, bearing: 273.432483 deg, lat: 36.779374 deg, lon: -121.859573 deg, deltaT: 0.508272 s, deltaX: -0.497593 m, approachRate: -0.978989 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 28.36 m.bhRhZh ProNav: ac range: 28.362785 m, nav range: 27.595379 m, bearing: 273.401934 deg, approach rate: 0.000000 m/s, LOS rate: 0.034440 deg/s, cmd heading: 275.146029 deg, new cmd heading: 275.191128 deg. BhHeadingCmd: 4.802991 target range: 28.362785 and range: 28.50 m.h@h*h"h hgfffddd)jd-<@Zd-A?uBɢ}01)y }iy)}顁iUivW<';I@IBu>BqBuIBuIBBqBqBqBuv;Bu0E@@ @@/@u checking for new query: numPingsReceived=31, elapsed TxPingTime=17.361671^A- ;! I! I1 O= >O,Aw^?ABN@B~I@BuٱB.&( ZAHRS rotation from veh to nav: [[0.077754,0.983565,0.162952],[-0.996973,0.076656,0.013021],[0.000316,-0.163471,0.986548]]BH ?@^y? ?3??൮4?Ŀ@͑?iBN@IBUh];@Yb\BybIi]Mb@Mb@Mb@YYYY Y9]Zd;?9 Y = gFy D VE>Q 54Y?Q 94s)XBY%?Q EE:yEBQ IE?iw,@3,@ V>)o@IVRheeZheeu ProNav: ac range: 28.362785 m, nav range: 27.334312 m, bearing: 273.396791 deg, approach rate: -0.631390 m/s, LOS rate: -0.012558 deg/s, cmd heading: 275.191136 deg, new cmd heading: 275.175558 deg. Bhu uHeadingCmd: 4.802720 target range: 28.362785 and range: 28.50 m.h}ᯙ@hyC?ЛF?a׮? ?)3oIiVchecking for new query: numPingsReceived=32, elapsed TxPingTime=17.633738*hy"h hgfff̀Bdddjd<@Zd ?9颵Bɢ30) i)*项iii[W< C;Iᯙ@IIgA)gAEE EEEAEA"EEV;*EE:VEAZEABEE|,c^?A=pD@=@?@=?ٱ=/) MAHRS rotation from veh to nav: [[0.076507,0.983410,0.164472],[-0.997068,0.075167,0.014364],[0.001763,-0.165089,0.986277]]=H?x?m ? &>?k?\?!ſ?i=pD@I=?[];9Y]`By]IIe<)e=bDuVDuNy<%T=ٔFyQ->9Y=gFyDZE>Q 54?Q 94\)XBYyiQ I?YCI:i:N4yɮAii^?AJiARiAji@bb:@Zк-#@RSf?uqD@QfJ0?ZibiVjVL?:c@Zˣ?KbtΒNc?2i :ig?"i8?*i$QBiBiC?i$QiBiAi @ addTargetRange:: Added new target pos. range: 28.100000 m, deltaT: 0.499877 s, deltaX: -0.400000 m, approachRate: -0.800196 m/s, rangeRepo size: 4  Added new target pos. range: 27.964659 m, bearing: 272.302586 deg, lat: 36.779374 deg, lon: -121.859571 deg, deltaT: 0.499877 s, deltaX: -0.398127 m, approachRate: -0.796449 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 27.96 m.bhRhZh ProNav: ac range: 27.964659 m, nav range: 26.937315 m, bearing: 273.358208 deg, approach rate: 0.000000 m/s, LOS rate: -0.012558 deg/s, cmd heading: 275.175563 deg, new cmd heading: 275.161601 deg. BhHeadingCmd: 4.802476 target range: 27.964659 and range: 28.10 m.h⭙@h*h"h hgfffdddjd Zd 7?颅Bɢ>:) i)Hii䇽 W< a;I⭙@IDDAT read: Rx Time:04:13:45.1530 TRx dataTimestamp_ set to:1761538426.508834PDAT read: Bearing 91.8, -6.4 (Local) ~Local bearing/azimuth received: Bearing 91.8, -6.4 (Local) DAT read: Range 11 to 50 : 27.9 m (trip time 18.6 ms) speed 0.5 A@ @@%/@!DAT read: 04:13:45.1530 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 501, 0.01,-1.556, 3.041,-1.287,-1.583, PHS= 0.130,-1.614, 0.252, RAW= 153.4, 13.5, CAL= 153.6, 15.2, ROT= 356.4, -15.2 Ygot valid direction response: 04:13:45.1530 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 501, 0.01,-1.556, 3.041,-1.287,-1.583, PHS= 0.130,-1.614, 0.252, RAW= 153.4, 13.5, CAL= 153.6, 15.2, ROT= 356.4, -15.2 T#Rx 33: Read range and direction messages.^direction in FSK: [0.963112,-0.060594,0.262189]Fpublishing direction and range infoy׈5? 4;f$?Y3A )>I>iο%>uY+@:Fq>+@ ԇ>)" @Iԇ:f?^BN?Cyk? S?)rPExceeded connect timeout, disconnecting.)I)iԇ5checking for new query: numPingsReceived=33, elapsed TxPingTime=18.178007bE5(N4jE5mF4rE5ȟ/E E E+E"E,K;*E:VE [4ZEa@a@a@a@B >^A ;B B IB NBB B B B v;B 0EBCBCBB =BC44Y I I Oe >checking for new query: numPingsReceived=33, elapsed TxPingTime=18.369473,^?A!5aH@51C@5N@Iٱ5Ö' EAHRS rotation from veh to nav: [[0.076986,0.983748,0.162215],[-0.997027,0.075459,0.015564],[0.003071,-0.162931,0.986633]]5Ha?`z?r?@KQ?`8? (i?`Ŀ~?i5aH@I5 t];5uCYUtByUIIiMb@Mb@Mb@ 9x&?MbL7A`?Y7 ?y+=7A ZA)( AYzAAABAbDVDky-k=%E=ٔM5Q-U>9YYY=egFyeDm^:Em>Q 54?Q 94r)XBY} ?Q E:y̿Q I?CIR;i;\Ĩ4y eBɮAEii^?AJiARiAji@b 7̽:@x[&lAV䑏@R׈5? 4;f$?Zi)biԇj ri] п] >] !,@] z0a>] Z,@ ] d{>)] @I] d{Y @  @ @ /@ @ =@ =Y ] Nr)?sp?>HrN? ] +W?)] 3caI] )i] d{Y Y - checking for new query: numPingsReceived=34, elapsed TxPingTime=18.681654E  E 'E )E "E V;*E ";VE FA4ZE BE RBi~Bi[(?iiBi|AibG@ addTargetRange:: Added new target pos. range: 27.500000 m, deltaT: 0.499987 s, deltaX: -0.400000 m, approachRate: -0.800020 m/s, rangeRepo size: 4  Added new target pos. range: 27.367544 m, bearing: 272.651907 deg, lat: 36.779371 deg, lon: -121.859571 deg, deltaT: 0.499987 s, deltaX: -0.398073 m, approachRate: -0.796167 m/s, posRepo size: 4 jh%DNOT Ignoring new targets: 27.37 m.bh!Rh!Zh)5 ProNav: ac range: 27.367544 m, nav range: 26.435740 m, bearing: 272.654206 deg, approach rate: 0.000000 m/s, LOS rate: -0.012558 deg/s, cmd heading: 275.139144 deg, new cmd heading: 275.125014 deg. Bh9eHeadingCmd: 4.801837 target range: 27.367544 and range: 27.50 m.he@ha*ha"ha higifififqdqdqdqjdu;@Zd}3?Bɢ+) ŝi)"iiΜBQV<د;I@I@@ @@/@  DDAT read: Rx Time:04:13:46.1526  TRx dataTimestamp_ set to:1761538427.517409 PDAT read: Bearing 90.2, -5.7 (Local)  ~Local bearing/azimuth received: Bearing 90.2, -5.7 (Local) ^A yb]; nManaging dock network, ignoring radio surface power off% DAT read: Range 11 to 50 : 27.3 m (trip time 18.2 ms) speed 0.4 E # E E E "E [;*E x:VE ZE a @a @a @a @) U DAT read: 04:13:46.1526 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 497, 0.41, 3.139, 1.427,-2.880, 3.061, PHS= 0.180,-1.589, 0.299, RAW= 153.2, 12.1, CAL= 153.3, 13.4, ROT= 356.7, -13.4 ] Ygot valid direction response: 04:13:46.1526 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 497, 0.41, 3.139, 1.427,-2.880, 3.061, PHS= 0.180,-1.589, 0.299, RAW= 153.2, 12.1, CAL= 153.3, 13.4, ROT= 356.7, -13.4 e T#Rx 35: Read range and direction messages. ^direction in FSK: [0.971163,-0.055997,0.231748] Fpublishing direction and range infoy  ,x ?:] A?Y fA ) >I Q8>i Zd˿ > D +@ @X> <+@ |o>) 8@I |o },?#K|%?E? `t?) (XI QkA ؟AI I! O5 >s,^?A2s@2m@2m}ٱ2&BN>BLBNIBNgBBLBLBLBNv;BN0Ei|o nAHRS rotation from veh to nav: [[0.082184,0.983481,0.161279],[-0.996610,0.080472,0.017132],[0.003870,-0.162140,0.986760]]checking for new query: numPingsReceived=35, elapsed TxPingTime=19.2851922H ?@x? Ȥ?9`ș??`o?Ŀ ?i2s@I2];2rCYByI 1 QQGchecking for new query: numPingsReceived=35, elapsed TxPingTime=19.377579-_9)Y5jAiMb@Mb@Mb@Y 9V-?/$ rh?Y>yC =zA@ A) AYp A p<p;bDVDN2y D$=%  =ٔ Q- >9"?Y"?=gFyD};E>!Q 5-4%?Q 9-4%)%XBY->Q E-:yx¿Q I?%CI%iRi[BiAiP@ addTargetRange:: Added new target pos. range: 27.299999 m, deltaT: 0.508588 s, deltaX: -0.200001 m, approachRate: -0.393247 m/s, rangeRepo size: 4 % Added new target pos. range: 27.168489 m, bearing: 273.670203 deg, lat: 36.779374 deg, lon: -121.859571 deg, deltaT: 0.508588 s, deltaX: -0.199055 m, approachRate: -0.391387 m/s, posRepo size: 4 jh!-DNOT Ignoring new targets: 27.17 m.bhIRhIZhI] ProNav: ac range: 27.168489 m, nav range: 26.187286 m, bearing: 273.402100 deg, approach rate: 0.000000 m/s, LOS rate: -0.012558 deg/s, cmd heading: 275.125019 deg, new cmd heading: 275.104856 deg. BhYeHeadingCmd: 4.801486 target range: 27.168489 and range: 27.30 m.heť@ha*h"h hgfff BdddjdL;@Zd_?% BɢM)I UiQ)U{3YYi]^imYmVi Ͽ > uY+@ s> >+@ ܸ>) @I ܸ jaH?s>!?&.(? ]?) sI )Ai ܸ  checking for new query: numPingsReceived=36, elapsed TxPingTime=19.646141D zD AAE ) E E 'E "E `;*E O:VE '4ZE BE 9AYA=EgFyE DMEM>ԑQQ 54UÝ?Q 94U)UYBYyQ I?UCIU;iU>;Uۨ4yɮAiij_?AJiARiAji#Ϙ@bTL9@s/j\@R(/?yޯ&K?Zi)AbiܸjО??x9/X|x@Z*?,y sA`r?2iO:i?"iJSL?*iMBiJBiDF?iiJBiAi@ addTargetRange:: Added new target pos. range: 27.000000 m, deltaT: 0.499340 s, deltaX: -0.299999 m, approachRate: -0.600792 m/s, rangeRepo size: 4 - Added new target pos. range: 26.869936 m, bearing: 273.603691 deg, lat: 36.779374 deg, lon: -121.859571 deg, deltaT: 0.499340 s, deltaX: -0.298553 m, approachRate: -0.597896 m/s, posRepo size: 4 jhIUDNOT Ignoring new targets: 26.87 m.bhQRhQZhQe ProNav: ac range: 26.869936 m, nav range: 25.996899 m, bearing: 273.410915 deg, approach rate: 0.000000 m/s, LOS rate: -0.012558 deg/s, cmd heading: 275.104857 deg, new cmd heading: 275.090511 deg. Bhachecking for new query: numPingsReceived=36, elapsed TxPingTime=19.8815755HeadingCmd: 4.801235 target range: 26.869936 and range: 27.00 m.h5@h9*h9"hA hAgifqffdddjd%;@Zd--?Թ"Bɢ!) ܓi)PIiitU<oDi {ο t> z0a> v+@ 5z>) o@I 5z +6?i2.?(Z'? ??) ɉ`I 5zE % E E *E "E O];*E j:VE (N4ZE a @a @a @a @I I O >I,<&_?Ai5z.checking for new query: numPingsReceived=37, elapsed TxPingTime=20.233212B}@BM@B%ٱB# ZAHRS rotation from veh to nav: [[0.089164,0.983395,0.158062],[-0.996007,0.087323,0.018570],[0.004459,-0.159087,0.987255]]BHsӶ? w?`;?JZ??Cr?\Ŀ?iB}@IB|];BsCYbByb#I1B>BBIBBBBBBv;B0EiMb@Mb@Mb@ 9S㥛?{Gz:v?Y>y#<@ A)( AY= AbD VD2ybu<%'=ٔEpQ-E>9IYI=MgFyMDUg<EU>YQ 54]Ý?Q 94])]YBY)>Q E:yǿQ I?]CI]*;i](;]4yɮAiip!_?AJi)ARi)Aji@bi>9@D!7_<ij?g9 @ZQü? bd}G*?2i:iS?"i Y?*iy6UBiBiJSL?i Ti~BiAi<Θ@U addTargetRange:: Added new target pos. range: 26.900000 m, deltaT: 0.507997 s, deltaX: -0.100000 m, approachRate: -0.196852 m/s, rangeRepo size: 4 Y Added new target pos. range: 26.770380 m, bearing: 273.931532 deg, lat: 36.779375 deg, lon: -121.859572 deg, deltaT: 0.507997 s, deltaX: -0.099556 m, approachRate: -0.195977 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 26.77 m.bhRhZh ProNav: ac range: 26.770380 m, nav range: 25.849445 m, bearing: 273.597374 deg, approach rate: 0.000000 m/s, LOS rate: -0.012558 deg/s, cmd heading: 275.090513 deg, new cmd heading: 275.071637 deg. BhHeadingCmd: 4.800906 target range: 26.770380 and range: 26.90 m.h@h*h"h hgff-checking for new query: numPingsReceived=37, elapsed TxPingTime=20.390167f5@BdYdadijd`f:@Zdd?$Bɢ?#) Oi)itiWU<l^A% ;I =i wϿ v> +@ d{> !,@ q>) @I q ~?ĪŷA?B] )p,? ?) {I ii q e checking for new query: numPingsReceived=38, elapsed TxPingTime=20.659935 EP EE)E"E(;*E:VEFA4ZEBEL,>F_?A4<ɰ49Y=gFyDE> Q 54 ĝ?Q 94 ) $YBYyQ I?  CI y:i : 4y%qBɮ%A-Eii*A_?AJiARiAjiט@b$d9@ dQb@@Rck?S -hψ.?ZiibiqjK{?JQ9}@@ZK[MW?"EA*[H?2i:ik?"iL?*i)LBiBiL?i>RiiAiNӘ@ addTargetRange:: Added new target pos. range: 26.600000 m, deltaT: 0.501265 s, deltaX: -0.299999 m, approachRate: -0.598484 m/s, rangeRepo size: 4   Added new target pos. range: 26.471825 m, bearing: 273.662399 deg, lat: 36.779375 deg, lon: -121.859571 deg, deltaT: 0.501265 s, deltaX: -0.298555 m, approachRate: -0.595604 m/s, posRepo size: 4 jh  DNOT Ignoring new targets: 26.47 m.bhRhZh% ProNav: ac range: 26.471825 m, nav range: 25.575270 m, bearing: 273.632847 deg, approach rate: 0.000000 m/s, LOS rate: -0.012558 deg/s, cmd heading: 275.071635 deg, new cmd heading: 275.054625 deg. BhAMHeadingCmd: 4.800609 target range: 26.471825 and range: 26.60 m.hM@hI*hI"hQ hQgQfQfQfYdYdYdYjd]:@Zde@?&Bɢr<') /i)}iiŽU<~d)Q ,`_?AZDAT read: Range 11 to 50 : 26.4 m (trip time 17.6 ms) speed 0.4 ex@eH@eͩٱe DAT read: 04:13:48.1520 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 507,-0.18,-0.525,-2.208,-0.236,-0.548, PHS= 0.125,-1.615, 0.268, RAW= 153.9, 13.4, CAL= 154.2, 15.0, ROT= 355.8, -15.0 AHRS rotation from veh to nav: [[0.096332,0.983185,0.155137],[-0.995336,0.094342,0.020157],[0.005182,-0.156355,0.987687]]1Ygot valid direction response: 04:13:48.1520 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 507,-0.18,-0.525,-2.208,-0.236,-0.548, PHS= 0.125,-1.615, 0.268, RAW= 153.9, 13.4, CAL= 154.2, 15.0, ROT= 355.8, -15.0 eH`;?@@v??` &?@?9u? tĿ`"?iex@IeL];euCYaMT#Rx 39: Read range and direction messages.^direction in FSK: [0.963332,-0.070743,0.258819]Fpublishing direction and range infoy@B4?W3V!}?YB3A@@@@ @)B?IB>iBRοBL7>Bo+@B|o>B9>,@ B >)BY@IB @@Bm ?-.4^? [0?y"IE EEE"E>T;*E4:VEZEa@a@a@a@ B?)B4oIBi iB @@checking for new query: numPingsReceived=39, elapsed TxPingTime=21.221519imMb@Mb@Mb@iiii i9mv/?I +~jtx?Ymx>ym94m;mAm@ mA)m AiYm AB>BB4IBBBBBBBbDVD:yk%<ٔ Q->9Y=gFy'De<E>Q 5 4#ĝ?Q 94),YBY>Q E:yȿQ I?)CIv:i:y4yAɮEAAYi@iBa_?AJiB.ARiB.AjiB@bBlE:O9@ 2,y3@RB4?W3V!}?ZiBi biB jBVt?R:9.ъB@ZB:?H轺EJc?2iB:iB4?"iB< P?*iBePBiB؎BiB< P?iBePiB؎BiBFAiB@  addTargetRange:: Added new target pos. range: 26.400000 m, deltaT: 0.502609 s, deltaX: -0.200001 m, approachRate: -0.397925 m/s, rangeRepo size: 4 M Added new target pos. range: 26.272861 m, bearing: 273.777210 deg, lat: 36.779375 deg, lon: -121.859570 deg, deltaT: 0.502609 s, deltaX: -0.198963 m, approachRate: -0.395861 m/s, posRepo size: 4 jhIuDNOT Ignoring new targets: 26.27 m.bhqRhyZhy ProNav: ac range: 26.272861 m, nav range: 25.284636 m, bearing: 273.777296 deg, approach rate: 0.000000 m/s, LOS rate: -0.012558 deg/s, cmd heading: 275.054614 deg, new cmd heading: 275.035461 deg. BhHeadingCmd: 4.800274 target range: 26.272861 and range: 26.40 m.hٛ@h*h"h hgfff:Bdddjd`ff:@ZdZ?(Bɢ) 閾i)%!!i%Zi-н-:VA,.}_?Ar@r@rUֻٱr} zAHRS rotation from veh to nav: [[0.102686,0.982713,0.154048],[-0.994692,0.100427,0.022399],[0.006541,-0.155531,0.987809]]QrH I?`br?ڷ?@??z?@mÿ"?ir@IrV];rtCYBy(IbD%VD%:2]PDAT read: Bearing 90.0, -5.8 (Local) ]~Local bearing/azimuth received: Bearing 90.0, -5.8 (Local) mDAT read: Range 11 to 50 : 26.1 m (trip time 17.4 ms) speed 0.3 DAT read: 04:13:48.6518 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 505,-0.36,-2.161, 2.429,-1.864,-2.247, PHS= 0.188,-1.562, 0.339, RAW= 154.1, 11.3, CAL= 154.1, 12.5, ROT= 355.9, -12.5 Ygot valid direction response: 04:13:48.6518 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 505,-0.36,-2.161, 2.429,-1.864,-2.247, PHS= 0.188,-1.562, 0.339, RAW= 154.1, 11.3, CAL= 154.1, 12.5, ROT= 355.9, -12.5 T#Rx 40: Read range and direction messages.^direction in FSK: [0.973797,-0.069803,0.216440]Fpublishing direction and range infoyQUMiUǿUh>U!,@UI>U!,@ Uf_>)U@IUf_QQU{<?wtP?vDr? U=Y?)U7JIUiiUf_QQchecking for new query: numPingsReceived=40, elapsed TxPingTime=21.659840y)<%X=ٔNkQ->9Y=gFy.DՋ<E>Q 5 4Gĝ?Q 94q)2YBYyǿQ I??CI:i:4yɮ%A!iQiU_?AJiUARiUAjiUg@bUp0K9@ņRcJ;|@RUM DDAT read: Rx Time:04:13:49.1517 - TRx dataTimestamp_ set to:1761538430.287885E PDAT read: Bearing 90.1, -5.8 (Local) U ~Local bearing/azimuth received: Bearing 90.1, -5.8 (Local) e checking for new query: numPingsReceived=40, elapsed TxPingTime=21.908655 {,_?AB3@B.@BٱBk NAHRS rotation from veh to nav: [[0.105613,0.982653,0.152444],[-0.994379,0.103200,0.023679],[0.007536,-0.154088,0.988028]]BH v ?q?G?@Ok?X??C~?%ÿ?iB3@IBl];@Y^By^I ``bDjVDjNy8%m=ٔ /=Q- ?9 Y=gFy5D <E?aQ 5u4etĝ?Q 94e)e8YBYynǿQ I?eSCIeqiʿ!>Z,@+H>9>,@ k]>)Y@Ik]1g3??A?E EE&E"E&U;*Ex:VE4ZEa@a@a@a@ v?)HIi ik]checking for new query: numPingsReceived=41, elapsed TxPingTime=22.233192^AM 벫<Bm <Am <Bu >Bq Bu :IBu BBq Bq Bq Bu v;Bu 0EI I O >9 ,װ_?A~DDAT read: Rx Time:04:13:49.6515  TRx dataTimestamp_ set to:1761538430.795769PDAT read: Bearing 90.0, -5.9 (Local) -~Local bearing/azimuth received: Bearing 90.0, -5.9 (Local) =checking for new query: numPingsReceived=41, elapsed TxPingTime=22.415709E@@@AٱP ]AHRS rotation from veh to nav: [[0.107778,0.982467,0.152126],[-0.994134,0.105108,0.025511],[0.009074,-0.153983,0.988032]]H U?^p?@x?@T??`w?ÿ?iE@IZ];sCYmBymIi}Mb@Mb@Mb@yyyy y9}/$?:vMbpY}&>y}T}}zA}@ }A)}( AyY}= AbDVDfy%&=ٔJLQ->9Y=gFy@Dw;E>Q 54jĝ?Q 94)Q E:y-PɿQ I-?qCI;i; 4y1ɮ5^A1ii_?AJiARiAji@bR}49@qN9@Ri+?VOh`r|?Zii bik]jlR?ڏ9ͣC@Z/L??9aP ᅧ֝VDz?2i:i"?"i`yPW?*i4\BiBiT`Q?iݭTiBiAi@= addTargetRange:: Added new target pos. range: 26.000000 m, deltaT: 0.510462 s, deltaX: -0.100000 m, approachRate: -0.195902 m/s, rangeRepo size: 4 Iu Added new target pos. range: 25.874836 m, bearing: 273.971612 deg, lat: 36.779375 deg, lon: -121.859572 deg, deltaT: 0.510462 s, deltaX: -0.099470 m, approachRate: -0.194863 m/s, posRepo size: 4 jhquDNOT Ignoring new targets: 25.87 m.bhqRh}Zhy ProNav: ac range: 25.874836 m, nav range: 24.878923 m, bearing: 273.872068 deg, approach rate: 0.000000 m/s, LOS rate: 0.054660 deg/s, cmd heading: 275.081607 deg, new cmd heading: 275.161417 deg. BhHeadingCmd: 4.802473 target range: 25.874836 and range: 26.00 m.hۭ@h*h"h hgff9f=5BdAdAdAjdE:@ZdEK?-BɢH+) i)%7!i%ۻi%-W<-i ˿Zd>,@ D>,@ @X>)(~@M @@I  @I @M ^0@Q E  E E *E "E X;*E A:VE (N4ZE BE AU >AIIO?1u,_?ADDAT read: Rx Time:04:13:50.1515 "TRx dataTimestamp_ set to:1761538431.2998392PDAT read: Bearing 90.3, -5.7 (Local) 6~Local bearing/azimuth received: Bearing 90.3, -5.7 (Local) JDAT read: Range 11 to 50 : 25.7 m (trip time 17.1 ms) speed 0.4 fZ#Rx 43: Read range message, but no direction.y Y 5checking for new query: numPingsReceived=43, elapsed TxPingTime=22.945127vM@FH@2ٱ -AHRS rotation from veh to nav: [[0.108712,0.982630,0.150400],[-0.994014,0.105800,0.027254],[0.010868,-0.152462,0.988250]]H Ի?q?J@?@ ?`o? B?@ÿ?ivM@I];rCY]~By] IbDVD:y%&=ٔYoQ->9Y=gFyJD:E>Q 54dĝ?Q 94)@YBYy2ɿQ I?CI-:i:c4y)ɮ-A)i i"0_?AJi"ARi"Aji"Ș@b"p8@!m7 <q@R"t20?!o)9h?Zi"lbi"@Xj"::.?8|a(8+@Z"?Lݑ↓d6f?2i":i"?"i"^F?*i"(p[Bi">Bi"< P?i i"Bi"&Ai"@ addTargetRange:: Added new target pos. range: 25.700001 m, deltaT: 0.757971 s, deltaX: -0.299999 m, approachRate: -0.395793 m/s, rangeRepo size: 4 u Added new target pos. range: 25.576283 m, bearing: 273.559522 deg, lat: 36.779375 deg, lon: -121.859572 deg, deltaT: 0.757971 s, deltaX: -0.298553 m, approachRate: -0.393885 m/s, posRepo size: 4 jhq}DNOT Ignoring new targets: 25.58 m.bhyRhZh ProNav: ac range: 25.576283 m, nav range: 24.643560 m, bearing: 273.868592 deg, approach rate: 0.000000 m/s, LOS rate: 0.054660 deg/s, cmd heading: 275.161411 deg, new cmd heading: 275.241910 deg. BhHeadingCmd: 4.803877 target range: 25.576283 and range: 25.70 m.h]@h*h"h hgfffdddjd@39@Zd ?E/BɢE3)I MiI)MIIiM׻iUYUd&X<}i˿Q>+H>,@ [>)u@I[bEFA4jEFA4rE/E  E E +E "E >T;*E :VE [4ZE a @a @a @a @i…?:?΃2? q?)EGIi٠i[ checking for new query: numPingsReceived=44, elapsed TxPingTime=23.253923^A Y B >B B B B B B DB v;B 0EBYBYBYBYBYC]4AI IQ Ia Ou >.,_?AVS@VM@VEKٱVl* ^AHRS rotation from veh to nav: [[0.109384,0.982521,0.150623],[-0.993922,0.106223,0.028900],[0.012396,-0.152869,0.988169]]VH?`p?G? 6m1? ?b?2ÿ ?iVS@IVj];TYuByI-DDAT read: Rx Time:04:13:50.6512 =TRx dataTimestamp_ set to:1761538431.804369]PDAT read: Bearing 91.3, -5.6 (Local) e~Local bearing/azimuth received: Bearing 91.3, -5.6 (Local) DAT read: Range 11 to 50 : 25.2 m (trip time 16.8 ms) speed 0.4 Z#Rx 45: Read range message, but no direction.y1Y5A1 checking for new query: numPingsReceived=45, elapsed TxPingTime=23.445436iMb@Mb@Mb@ 9rh|?I +MbY>y94MA@  A)Y AbDVD y%)=ٔNQ->9Y=gFySD%(:E%>)Q 554-ĝ?Q 954-4)-CYBY5>Q E5:y5ƿQ I=?9-CI-;i-6;-4yeBɮeMAeEi1i5z_?AJi5ARi5Aji5@b5rm8@Oa ^^@R5dջH+?A_۟AzUmD?Zi5i٠bi5[j5P:披g?1T8G^W@Z58_G5?Q6 ᅢ@3?2i5:i5=?"i5JJ?*i5ljTBi55Bi1i1i5Bi5@Ai5@ addTargetRange:: Added new target pos. range: 25.200001 m, deltaT: 0.504530 s, deltaX: -0.500000 m, approachRate: -0.991021 m/s, rangeRepo size: 4   Added new target pos. range: 25.078735 m, bearing: 273.734080 deg, lat: 36.779375 deg, lon: -121.859572 deg, deltaT: 0.504530 s, deltaX: -0.497547 m, approachRate: -0.986160 m/s, posRepo size: 4 jh  DNOT Ignoring new targets: 25.08 m.bh RhZh ProNav: ac range: 25.078735 m, nav range: 24.406572 m, bearing: 273.895610 deg, approach rate: 0.000000 m/s, LOS rate: 0.054660 deg/s, cmd heading: 275.241898 deg, new cmd heading: 275.318979 deg. BhHeadingCmd: 4.805223 target range: 25.078735 and range: 25.20 m.hbę@h*h"h hgfffBdddjd@339@Zd?i}0Bɢ}h8)y Ri)顁iNӻi-X<4i ̿ r> Z,@ ȭT> iw,@ k>) @I k  I?9?) mc? m?) TI iFi k5 checking for new query: numPingsReceived=46, elapsed TxPingTime=23.679646ԑ D zD @AE ( E E )E "E `;*E :VE FA4ZE BE R9lYl=ngFyn\DrtEr>|Q 54~ŝ?Q 94~p)~EYBY)y-ƿQ I5?~CI~iοA>,@f_>3,@ 5z>)o@I5z*??^?  m?){_Ii5z51Bɢ5D)1 =>i9)=nchecking for new query: numPingsReceived=47, elapsed TxPingTime=23.9832199yi}^ϻiY<f ,)`?A2I@2D@2y[ٱ2kJ :AHRS rotation from veh to nav: [[0.108267,0.982528,0.151384],[-0.993998,0.104591,0.032062],[0.015668,-0.153947,0.987955]]2H_?@p?`?vƺ?_j? D ?ÿS?i2I@I2];0YBjByBI DDAXAXB^>B^CB^'IB^BB\B\B\B^v;B^0EԱiMb@Mb@Mb@ 9w/?MbMbpY?y@ )AYp AbDVDky=S%E2=ٔEVQ-E>9M ?YM ?=MgFyMeDMԺEU>QQ 5]4U Ɲ?Q 9e4U)UJYBYe*?Q Ee:ym¿Q Im?UCIU0;iU/;U)4yqɮuAyi i 3`?AJi Ri ji w@b .E?@8@džSYu D@R j&)?LrkZ79K?Zi bi 5zj s5\? M8L@UG9Y"iAZ er6.?J ?2i :i ?"i CK?*i {7ZBi ǍBi CK?i {7Zi i aAi z@DDAT read: Rx Time:04:13:51.6509 TRx dataTimestamp_ set to:1761538432.815432%PDAT read: Bearing 91.1, -4.8 (Local) 5~Local bearing/azimuth received: Bearing 91.1, -4.8 (Local) ExDAT read: Range 11 24.9 m (trip time 16.6 ms) speed 0.4 Eunknown deviceResponse_: Range 11 24.9 m (trip time 16.6 ms) speed 0.4 ] addTargetRange:: Added new target pos. range: 25.200001 m, deltaT: 0.504298 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 m Added new target pos. range: 25.078775 m, bearing: 273.759860 deg, lat: 36.779375 deg, lon: -121.859575 deg, deltaT: 0.504298 s, deltaX: 0.000040 m, approachRate: 0.000079 m/s, posRepo size: 4 jhiDAT read: 04:13:51.6509 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 496, 0.08, 1.174,-0.529, 1.457, 1.090, PHS= 0.186,-1.574, 0.323, RAW= 153.7, 11.6, CAL= 153.7, 12.9, ROT= 356.3, -12.9 Ygot valid direction response: 04:13:51.6509 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 496, 0.08, 1.174,-0.529, 1.457, 1.090, PHS= 0.186,-1.574, 0.323, RAW= 153.7, 11.6, CAL= 153.7, 12.9, ROT= 356.3, -12.9 DNOT Ignoring new targets: 25.08 m.bhRhZh ProNav: ac range: 25.078775 m, nav range: 24.172497 m, bearing: 273.759941 deg, approach rate: 0.000000 m/s, LOS rate: 0.052023 deg/s, cmd heading: 275.389266 deg, new cmd heading: 275.460794 deg. BhHeadingCmd: 4.807698 target range: 25.078775 and range: 25.20 m.hؙ@Z#Rx 48: Read direction message, but no range.^direction in FSK: [0.972729,-0.062904,0.223250]yGk ?fAvNu? )>Iv>>ixɿB`>>+@4QO>>+@ f>)@Ife!?_ضe?:D?  ?)2Oh1*h1"h1 h1g1f9f9f=Bd9dAdAjdAZdE?I)AifUchecking for new query: numPingsReceived=48, elapsed TxPingTime=24.4731813BɢC) Ⱦi)"ir˻iܼ=Y<w9IYI=MgFyMnDMEU>YQ 5]4] ǝ?Q 9e4]P)]NYBYayaQ Ie?]CI]d:i]$:] 24yqɮuAqB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 25.08 m.bhRh!9Zh!9 ProNav: ac range: 25.078775 m, nav range: 23.923935 m, bearing: 273.770793 deg, approach rate: -0.612279 m/s, LOS rate: 0.027007 deg/s, cmd heading: 275.460792 deg, new cmd heading: 275.493683 deg. BhG:HeadingCmd: 4.808272 target range: 25.078775 and range: 25.20 m.h]ݙ@h*h"h hgfffdddjdZd5?4Bɢl\) Ҿi)v i ȻiɼjY<Ա ,c`?A.DAT read: 04:13:52.1507 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 510, 0.40, 1.157,-0.540, 1.445, 1.078, PHS= 0.180,-1.574, 0.323, RAW= 153.9, 11.7, CAL= 153.9, 12.9, ROT= 356.1, -12.9 BYgot valid direction response: 04:13:52.1507 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 510, 0.40, 1.157,-0.540, 1.445, 1.078, PHS= 0.180,-1.574, 0.323, RAW= 153.9, 11.7, CAL= 153.9, 12.9, ROT= 356.1, -12.9 FZ#Rx 50: Read direction message, but no range.J^direction in FSK: [0.972504,-0.066299,0.223250]yDى?&&;Nu? )IQ8>io+@Q>o+@ )>@I>(?Tx?׈? a?)PI)giZchecking for new query: numPingsReceived=50, elapsed TxPingTime=25.195120Em" EmEm*Ei"EmZ;*Em:VEm(N4ԙZEia@a@a@a@B>BCBIBBB =BBB}v;B0EY_ByIi5Mb@Mb@Mb@1111 195ˡE?/$Mb?Y5?y55<5dA1 1)11Y5 AbDmVDm1y}%}=ٔQ->9"?Y"?=gFyyDE>Q 54ȝ?Q 94)YYBY?Q E:y῿Q I?*CIP;iL;;4yɮAi!i%LT`?AJi%ARi%Aji%y=@b%L7@64yx6pA@R%Dى?&&;Nu?Zi%)gbi%fj%Xm?jO7U"@Z%Ŝ"?q(id}?2i%G:i%?"i%Ua?*i%v:/\Bi%kBi!i%(p[i%kBi%vAi%b@E addTargetRange:: Added new target pos. range: 24.600000 m, deltaT: 1.008530 s, deltaX: -0.600000 m, approachRate: -0.594926 m/s, rangeRepo size: 4 DDAT read: Rx Time:04:13:52.6505  TRx dataTimestamp_ set to:1761538433.821138PDAT read: Bearing 93.0, -5.9 (Local) ~Local bearing/azimuth received: Bearing 93.0, -5.9 (Local) -DAT read: Range 11 to 50 : 24.3 m (trip time 16.2 ms) speed 0.4 uDAT read: 04:13:52.6505 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 508,-0.25,-2.038, 2.570,-1.730,-2.058, PHS= 0.121,-1.611, 0.283, RAW= 154.4, 13.2, CAL= 154.7, 14.8, ROT= 355.3, -14.8 }Ygot valid direction response: 04:13:52.6505 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 508,-0.25,-2.038, 2.570,-1.730,-2.058, PHS= 0.121,-1.611, 0.283, RAW= 154.4, 13.2, CAL= 154.7, 14.8, ROT= 355.3, -14.8 }T#Rx 51: Read range and direction messages.^direction in FSK: [0.963572,-0.079220,0.255446]Fpublishing direction and range infoy ?!G)Gl39Y?YfA Added new target pos. range: 24.481617 m, bearing: 274.375385 deg, lat: 36.779375 deg, lon: -121.859575 deg, deltaT: 1.008530 s, deltaX: -0.597158 m, approachRate: -0.592108 m/s, posRepo size: 4  )=I=i?5ο`>iw,@k>3,@  A>)o@I Aܗ?ZV?0v>? ?)c lIi Achecking for new query: numPingsReceived=51, elapsed TxPingTime=25.456150jhDNOT Ignoring new targets: 24.48 m.bhRhZh ProNav: ac range: 24.481617 m, nav range: 23.682671 m, bearing: 273.759273 deg, approach rate: 0.000000 m/s, LOS rate: 0.027007 deg/s, cmd heading: 275.493686 deg, new cmd heading: 275.540637 deg. BhHeadingCmd: 4.809092 target range: 24.481617 and range: 24.60 m.h@h*h"h hgfffBdd d jd L8@Zd x? 5Bɢ C?) N־i ) {ü i »i% % WZ<- V9TYX=ZgFyZDZE^>\Q 5b4^3ʝ?Q 9f4^])^dYBYdyfZQ If?^JCI^B:i^[:^C4yjBɮnAnEiqiut`?AJiuvARiuvAjiu@buq4.XM7@Kű2r@Ru ?!G)Gl39Y?Ziubiu Ajut\?o7LR@ZuP|eR0{t]?2iu:iuW?"iuuK?*iuYTBiuKBiuuK?iu{7ZiqiuAiu@ addTargetRange:: Added new target pos. range: 24.299999 m, deltaT: 0.503941 s, deltaX: -0.300001 m, approachRate: -0.595310 m/s, rangeRepo size: 4  Added new target pos. range: 24.183060 m, bearing: 273.796583 deg, lat: 36.779375 deg, lon: -121.859575 deg, deltaT: 0.503941 s, deltaX: -0.298557 m, approachRate: -0.592445 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 24.18 m.bhRhZh5 ProNav: ac range: 24.183060 m, nav range: 23.388308 m, bearing: 273.760494 deg, approach rate: 0.000000 m/s, LOS rate: 0.027007 deg/s, cmd heading: 275.540650 deg, new cmd heading: 275.577317 deg. Bh1=HeadingCmd: 4.809731 target range: 24.183060 and range: 24.30 m.h=R@h9*h9"h9 h9g9f9fAfAdAdAdqjdyZd}Xn?ԑEDDAT read: Rx Time:04:13:53.1504 MTRx dataTimestamp_ set to:1761538434.323864UPDAT read: Bearing 91.7, -5.0 (Local) U~Local bearing/azimuth received: Bearing 91.7, -5.0 (Local) eDAT read: Range 11 to 50 : 24.2 m (trip time 16.1 ms) speed 0.4 DAT read: 04:13:53.1504 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 507,-0.06,-0.496,-2.177,-0.203,-0.561, PHS= 0.167,-1.571, 0.313, RAW= 154.0, 12.0, CAL= 154.1, 13.3, ROT= 355.9, -13.3 Ygot valid direction response: 04:13:53.1504 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 507,-0.06,-0.496,-2.177,-0.203,-0.561, PHS= 0.167,-1.571, 0.313, RAW= 154.0, 12.0, CAL= 154.1, 13.3, ROT= 355.9, -13.3 T#Rx 52: Read range and direction messages.^direction in FSK: [0.970688,-0.069580,0.230050]Fpublishing direction and range infoyAE͜?=Pϱgz}"Er?YEAAAAA A)E<IE +>iEɿEA>E,@EPwV>E!,@ E,m>)E@IE,mAAEQ+?fn(?`O? E?)EbVIEiiE,mAAchecking for new query: numPingsReceived=52, elapsed TxPingTime=25.9544736BɢM) ̾i)ƼihXi#aZ<%U),C`?AE2 E2E2)E0"E2V;*E2:VE2FA4ZE0a:@a:@a>@a>@b!@bn@b0Ƽٱb& nAHRS rotation from veh to nav: [[0.103366,0.981922,0.158571],[-0.994349,0.098136,0.040484],[0.024191,-0.161859,0.986517]]bH1v?k?` L?@@w?Z?zŘ?ϷĿ?ib!@Ib];btCYvkByvIyB}<A}<B>BBIBBB =BBDBv;B0EiMb@Mb@Mb@ 9 rh?Q~jt?Y ?yuD< ( A) AY A@AbDVDNy;%=ٔxQ->9Y=gFyDwE>9Q 5E4=+̝?Q 9E4=)=sYBYE ?Q EE:yE;Q IE?=oCI=@:i=;=L4yqɮuAqii0`?AJiARiAji@b`7@OgپP!T)@R͜?=Pϱgz}"Er?Ziibi,mj6rd?Ny/7zg5@ZpTEĈ??2i{:i$?"iQ,W?*i']BiBiCK?iiBiŸAi@ԩ addTargetRange:: Added new target pos. range: 24.200001 m, deltaT: 0.502726 s, deltaX: -0.099998 m, approachRate: -0.198912 m/s, rangeRepo size: 4  Added new target pos. range: 24.083319 m, bearing: 274.069485 deg, lat: 36.779375 deg, lon: -121.859575 deg, deltaT: 0.502726 s, deltaX: -0.099741 m, approachRate: -0.198400 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 24.08 m.DDAT read: Rx Time:04:13:53.6501 TRx dataTimestamp_ set to:1761538434.825091PDAT read: Bearing 92.7, -5.3 (Local) ~Local bearing/azimuth received: Bearing 92.7, -5.3 (Local) DAT read: Range 11 to 50 : 23.7 m (trip time 15.8 ms) speed 0.4 Z#Rx 53: Read range message, but no direction.yYAchecking for new query: numPingsReceived=53, elapsed TxPingTime=26.444199bhRhZh ProNav: ac range: 24.083319 m, nav range: 23.096472 m, bearing: 273.754819 deg, approach rate: 0.000000 m/s, LOS rate: 0.027007 deg/s, cmd heading: 275.577315 deg, new cmd heading: 275.621748 deg. BhHeadingCmd: 4.810507 target range: 24.083319 and range: 24.20 m.h@h*h"h hgfffBdddjd@37@Zd֢?}7Bɢ}H) D̾i)ɼ顁i컻i Z<ďiu VͿu z>u !,@u d>u Z,@ u r>)u @Iu rq u 9V?޸}?Td? u P?)u eIu )iu r checking for new query: numPingsReceived=54, elapsed TxPingTime=26.699043^A <)E3 E(E*E"Ej;*E;VE(N4ZEBE?i^@I^6B^;^uC1YmmBymI yybDVDfy<%&=ٔQ->9 ?Y ?=gFyDeE>Q 54͝?Q 94)YBYyؾQ I?CI9:i:vU4yɮAi)i-Jδ`?AJi-ARi-Aji-@b- ye6@dSk߀wM@R-E ?t|⩝?Zi-)bi-rj-h .?-6[Z8@Z-߇o?'?=?2i-:i-?"i-$VU?*i-$TBi-Bi-$VU?i)i-Bi-Ai- @ addTargetRange:: Added new target pos. range: 23.700001 m, deltaT: 0.501227 s, deltaX: -0.500000 m, approachRate: -0.997552 m/s, rangeRepo size: 4  Added new target pos. range: 23.585730 m, bearing: 274.070542 deg, lat: 36.779376 deg, lon: -121.859575 deg, deltaT: 0.501227 s, deltaX: -0.497589 m, approachRate: -0.992742 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 23.59 m.bhRhZh ProNav: ac range: 23.585730 m, nav range: 22.837425 m, bearing: 274.033858 deg, approach rate: 0.000000 m/s, LOS rate: 0.027007 deg/s, cmd heading: 275.621738 deg, new cmd heading: 275.658874 deg. Bh HeadingCmd: 4.811155 target range: 23.585730 and range: 23.70 m.h @h*h"h hgAfIfYfYdqdydjdZdܺ?iDDAT read: Rx Time:04:13:54.1500  TRx dataTimestamp_ set to:1761538435.328838PDAT read: Bearing 90.1, -4.7 (Local) ~Local bearing/azimuth received: Bearing 90.1, -4.7 (Local) -DAT read: Range 11 to 50 : 23.6 m (trip time 15.7 ms) speed 0.4 MDAT read: 04:13:54.1500 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 503, 0.25, 1.918, 0.222, 2.221, 1.812, PHS= 0.208,-1.545, 0.365, RAW= 154.2, 10.6, CAL= 154.1, 11.6, ROT= 355.9, -11.6 UYgot valid direction response: 04:13:54.1500 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 503, 0.25, 1.918, 0.222, 2.221, 1.812, PHS= 0.208,-1.545, 0.365, RAW= 154.2, 10.6, CAL= 154.1, 11.6, ROT= 355.9, -11.6 ]T#Rx 55: Read range and direction messages.e^direction in FSK: [0.977068,-0.070037,0.201078]eFpublishing direction and range infoyd$D?Ko?Y̼A )=IT>iſH>9>,@q=>!,@ 4QO>)@I4QOc‰=? fW?ab? ?)k=Iii4QOchecking for new query: numPingsReceived=55, elapsed TxPingTime=26.957884颥8BɢyN) ʾi)ͼ顩imi}kZ<CD9,_`?AE" E"E"(E "E"&U;*E":VE"c44ZE a.@a2@a2@a2@-@-@-}ٱ- ( =AHRS rotation from veh to nav: [[0.103001,0.981789,0.159630],[-0.994280,0.097065,0.044570],[0.028264,-0.163307,0.986170]]-HJ^?@j?n?`#`Aٸ?Ѧ?3? @Ŀ?i-@I-Dx^;-pCY{ByIaiMb@Mb@Mb@ 9%C?~jth/$?YZ?yD<A@  A)AY 4<p;bDVD0B>BBIBBBBBBvv;B0EyX=%=ٔ~&Q->9U"?YU"?=UgFyUD]9E]>aQ 5m4e[Н?Q 9m4e, )eYBYmv?Q Em:ymQ Im?eCIe7 ;ie ;e^4y}Bɮ}A}Eii `?AJiARiAji@b)6@Qr@Rd$D?Ko?Ziibi4QOjzRr ?(6#KL@ZP`?]>Na?2i :iS?"iFkN?*iJ`BiBiiv:/\iBiAif@m addTargetRange:: Added new target pos. range: 23.600000 m, deltaT: 0.503747 s, deltaX: -0.100000 m, approachRate: -0.198513 m/s, rangeRepo size: 4 } Added new target pos. range: 23.486408 m, bearing: 273.776076 deg, lat: 36.779376 deg, lon: -121.859575 deg, deltaT: 0.503747 s, deltaX: -0.099321 m, approachRate: -0.197165 m/s, posRepo size: 4 jhy}DNOT Ignoring new targets: 23.49 m.bhyԉDDAT read: Rx Time:04:13:54.6498 TRx dataTimestamp_ set to:1761538435.832818PDAT read: Bearing 90.5, -5.0 (Local) ~Local bearing/azimuth received: Bearing 90.5, -5.0 (Local) DAT read: Range 11 to 50 : 23.1 m (trip time 15.4 ms) speed 0.5 DAT read: 04:13:54.6498 LVL= 32496, 32753, 32754, 32755, AGC= 61, IDX= 501,-0.43,-1.709, 2.874,-1.395,-1.803, PHS= 0.196,-1.561, 0.364, RAW= 154.5, 10.8, CAL= 154.5, 11.9, ROT= 355.5, -11.9 Ygot valid direction response: 04:13:54.6498 LVL= 32496, 32753, 32754, 32755, AGC= 61, IDX= 501,-0.43,-1.709, 2.874,-1.395,-1.803, PHS= 0.196,-1.561, 0.364, RAW= 154.5, 10.8, CAL= 154.5, 11.9, ROT= 355.5, -11.9 T#Rx 56: Read range and direction messages. ^direction in FSK: [0.975493,-0.076773,0.206204] Fpublishing direction and range infoyn7<7?+aFa5d?Y̸A~ )I9H>iǿ5^>,@A>,@ ȭT>)u@IȭTRhZh!5 ProNav: ac range: 23.486408 m, nav range: 22.638861 m, bearing: 273.997187 deg, approach rate: 0.000000 m/s, LOS rate: 0.027007 deg/s, cmd heading: 275.658867 deg, new cmd heading: 275.704489 deg. Bh1=HeadingCmd: 4.811951 target range: 23.486408 and range: 23.60 m.h=@h9*h9"h9 h9Օ ?6:?;c? ;?))AIi٠iȭTMchecking for new query: numPingsReceived=56, elapsed TxPingTime=27.465900g9fafafe$Bdididijdm7@Zdm`?颽9BɢhnE) i)5мigHihQ[<6B,oF a?AE. E.E.*E,"E.O;*E. :VE.(N4ZE,BE.79r ?Yr ?=rgFyrDvS:Ev>xQ 5~4zAҝ?Q 9~4z)zYBY|y~Q I?zCIz:iz:z f4y ɮ {A iiL`?AJiARiAjiõ@b5l6@ӥ=Eֲ(@Rn7<7?+aFa5d?Zii٠biȭTj?P?#:@6"Z"vw@ZYY٫?o&?E?2i:i?"iB?*i#^YBiBiFkN?i#^YiiiAi@] addTargetRange:: Added new target pos. range: 23.100000 m, deltaT: 0.503980 s, deltaX: -0.500000 m, approachRate: -0.992103 m/s, rangeRepo size: 4 m Added new target pos. range: 22.988815 m, bearing: 273.426204 deg, lat: 36.779375 deg, lon: -121.859574 deg, deltaT: 0.503980 s, deltaX: -0.497593 m, approachRate: -0.987327 m/s, posRepo size: 4 jhiuDNOT Ignoring new targets: 22.99 m.bhqRhqZhy ProNav: ac range: 22.988815 m, nav range: 22.301439 m, bearing: 273.805249 deg, approach rate: 0.000000 m/s, LOS rate: 0.027007 deg/s, cmd heading: 275.704493 deg, new cmd heading: 275.735082 deg. BhHeadingCmd: 4.812485 target range: 22.988815 and range: 23.10 m.h@h*h"h hgfffdddjdZd@oc?iɢmX)q u iq)uRҼqqiui}?}[<i5^ʿT>iw,@PwV> ,m>)I,mo?dr?v^8? z?)/UIi,mechecking for new query: numPingsReceived=57, elapsed TxPingTime=27.967640^AY A ؟AI I O >YH,#a?A 2)@2#@2ٱ2m% :AHRS rotation from veh to nav: [[0.104246,0.982146,0.156594],[-0.994105,0.098183,0.045989],[0.029793,-0.160465,0.986592]]2H⯺?m?B ? "?@鋧?(?@Ŀ)?i2)@I2_^;2sCYRByRIIV=)VC=bDZVDZ0yv=%vJ=ٔv-Q-v>9z"?Yz"?=zgFyzDz;E~>Q 5 4ԝ?Q 9 4H)YBY y Q I ?CI :i$:m4yBɮAEEchecking for new query: numPingsReceived=57, elapsed TxPingTime=28.201679iiqa?AJiRijiܘ@b΢M6@S._&'@Rλ ?ygz}"Er?Zibi,mjF?a]6;k@Zԯ?+Z(?2iΰ:i?"iL?*iӗZBiٌBiiӗZiٌBi1Ai@u addTargetRange:: Added new target pos. range: 23.100000 m, deltaT: 0.504001 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 m Added new target pos. range: 22.988815 m, bearing: 273.700063 deg, lat: 36.779375 deg, lon: -121.859575 deg, deltaT: 0.504001 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 22.99 m.bhRhZhU ProNav: ac range: 22.988815 m, nav range: 22.148956 m, bearing: 273.774660 deg, approach rate: 0.000000 m/s, LOS rate: 0.027007 deg/s, cmd heading: 275.735092 deg, new cmd heading: 275.767941 deg. BhQbE(N4jEmF4rE..E EEE"E>T;*E&:VEZEa@a@a@a@mHeadingCmd: 4.813058 target range: 22.988815 and range: 23.10 m.h@h*h"h hgfIfIfIdQdQdQjdYZd]2?ɢ F) i)ռii -7[<BB-IBBB =BBBv;B0EB9B9B9B9B9C=54@@ @@/@DDAT read: Rx Time:04:13:55.6495 TRx dataTimestamp_ set to:1761538436.840889 PDAT read: Bearing 90.4, -4.6 (Local)  ~Local bearing/azimuth received: Bearing 90.4, -4.6 (Local)  DAT read: Range 11 to 50 : 22.7 m (trip time 15.1 ms) speed 0.6 = DAT read: 04:13:55.6495 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 497, 0.13,-0.741,-2.428,-0.430,-0.840, PHS= 0.202,-1.542, 0.367, RAW= 154.5, 10.6, CAL= 154.4, 11.7, ROT= 355.6, -11.7 M Ygot valid direction response: 04:13:55.6495 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 497, 0.13,-0.741,-2.428,-0.430,-0.840, PHS= 0.202,-1.542, 0.367, RAW= 154.5, 10.6, CAL= 154.4, 11.7, ROT= 355.6, -11.7 M T#Rx 58: Read range and direction messages.U ^direction in FSK: [0.976337,-0.075125,0.202787]U Fpublishing direction and range infoyT&>?d; ?YA )>IN>iB`ſm>,@q=>iw,@ Q>)@IQ {g?՘8?* ? I?)>IiFiQu checking for new query: numPingsReceived=58, elapsed TxPingTime=28.469942 ^A vт<1 AU .AIY Ii Ou >O,=?a?AR/1@R+@R,.ٱR6$ zAHRS rotation from veh to nav: [[0.105238,0.982192,0.155643],[-0.993986,0.099125,0.046548],[0.030291,-0.159606,0.986716]]RH?n? ?E`? է?? mĿ-?iR/1@IR:_;PYBy"Ii-Mb@Mb@Mb@)))) )9-x&1?Mb;=%u&=ٔuQ-}>9} ?Y} ?=}gFy}D=;E>Q 54֝?Q 94)YBYZ?Q E:yؼQ I? CI:i:u4yɮEAi i 5a?AJi ARi Aji +˘@b 4eya6@8q'S@R T&>?d; ?Zi iFbi Qj yF?5S²@@Z \ /?6yb2,?2i :i ?"i qJI?*i .}-[Bi |Bi L?i i Bi 6Ai ژ@ addTargetRange:: Added new target pos. range: 22.700001 m, deltaT: 0.504070 s, deltaX: -0.400000 m, approachRate: -0.793540 m/s, rangeRepo size: 4   Added new target pos. range: 22.590744 m, bearing: 273.575939 deg, lat: 36.779375 deg, lon: -121.859575 deg, deltaT: 0.504070 s, deltaX: -0.398071 m, approachRate: -0.789714 m/s, posRepo size: 4 jh DNOT Ignoring new targets: 22.59 m.bhRhZh5checking for new query: numPingsReceived=58, elapsed TxPingTime=28.7056545 ProNav: ac range: 22.590744 m, nav range: 21.901443 m, bearing: 273.680299 deg, approach rate: 0.000000 m/s, LOS rate: 0.027007 deg/s, cmd heading: 275.767932 deg, new cmd heading: 275.807681 deg. Bh1=HeadingCmd: 4.813752 target range: 22.590744 and range: 22.70 m.h=B @h9*h9"h9 h9gAfAfAfMDBdIdIdIjdM@36@ZdU@W?}:Bɢ}J)y ܨi)B׼顁iiaR[<i 7Έ > <+@ @X> uY+@  |o>) )@I |o   Ae(?w4d*?= Ĉ?  x?) gXI si |o   checking for new query: numPingsReceived=59, elapsed TxPingTime=28.979713A ؟AI I O >U,wYa?A(e6@e1@e˷ٱeܚ$ AHRS rotation from veh to nav: [[0.105909,0.982076,0.155916],[-0.993894,0.099665,0.047355],[0.030966,-0.159979,0.986635]]eH`? +m? ??>? ?/zĿ?ie6@IeHc_;aYBy(IbDVDNy<%V=ٔQ->9"?Y"?=gFyD:E>Q 5 4ם?Q 9 4 )YBYQyUQ IU?#CI%B B FIB BB =B B DB v;B 0E ֐C - %}9) Y= fAA I I O% >\,ta?AiI%DDAT read: Rx Time:04:13:56.6491 -TRx dataTimestamp_ set to:1761538437.8610805PDAT read: Bearing 91.1, -5.5 (Local) =~Local bearing/azimuth received: Bearing 91.1, -5.5 (Local) MDAT read: Range 11 to 50 : 22.1 m (trip time 14.7 ms) speed 0.4 mDAT read: 04:13:56.6491 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 509, 0.05,-2.685, 1.922,-2.345,-2.753, PHS= 0.170,-1.563, 0.364, RAW= 155.3, 11.2, CAL= 155.3, 12.4, ROT= 354.7, -12.4 uYgot valid direction response: 04:13:56.6491 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 509, 0.05,-2.685, 1.922,-2.345,-2.753, PHS= 0.170,-1.563, 0.364, RAW= 155.3, 11.2, CAL= 155.3, 12.4, ROT= 354.7, -12.4 uT#Rx 60: Read range and direction messages.}^direction in FSK: [0.972497,-0.090216,0.214735]Fpublishing direction and range infoy)-^n?$^Sah`r|?Y-̰A)))) ))-=I-{.>i-bȿ-5^>-x-@-+H>-x-@ -k]>)-@I-k])YBy,I )-~?{r?"Q? -}z?)-!HI-qi-k]))=checking for new query: numPingsReceived=60, elapsed TxPingTime=29.509853i]Mb@Mb@Mb@YYYY Y9]x&1?Mb9Y=gFyDE>Q 54Qٝ?Q 94H')YBYg?Q E :y ǾQ I ?CCIS;i ;4yɮAi)i-wa?AJi-ARi-Aji-a@b-!c5@I,1)@R-^n?$^Sah`r|?Zi-qbi-k]j-m?_]t;5Л++̎@Z-i?lR nfoi?2i-۩:i-Ȇ?"i-r 2?*i-UBi-Bi-qJI?i-#^Yi-Bi-6Ai-Ș@e addTargetRange:: Added new target pos. range: 22.100000 m, deltaT: 0.512116 s, deltaX: -0.299999 m, approachRate: -0.585803 m/s, rangeRepo size: 4 u Added new target pos. range: 21.993649 m, bearing: 272.839231 deg, lat: 36.779374 deg, lon: -121.859574 deg, deltaT: 0.512116 s, deltaX: -0.298538 m, approachRate: -0.582950 m/s, posRepo size: 4 jhq}DNOT Ignoring new targets: 21.99 m.bhRhZh ProNav: ac range: 21.993649 m, nav range: 21.401739 m, bearing: 273.559722 deg, approach rate: 0.000000 m/s, LOS rate: 0.027007 deg/s, cmd heading: 275.840304 deg, new cmd heading: 275.881475 deg. BhHeadingCmd: 4.815040 target range: 21.993649 and range: 22.10 m.h@h*h"h hgfff3Bddd jd 6@Zd π?};Bɢ}?)y }i)ܼ顁i껫i/컿[<+AHRS rotation from veh to nav: [[0.109603,0.981408,0.157558],[-0.993469,0.103104,0.048871],[0.031718,-0.161886,0.986300]]6H`?g?*?` e?`?N=?@Ŀ@ď?i66U@I6`;6rCYFByF)I LN<bDRVDR yZu%ZI=ٔZQ-Z>9\Y\=^gFy^Dbx<Eb>dQ 5j4fڝ?Q 9j4f},)fYBYhyjJQ Ij?f\CIf;if:f 4ypɮrAp~B*** querying acoustic contact ***i ijh DNOT Ignoring new targets: 21.99 m.bhRhZh% ProNav: ac range: 21.993649 m, nav range: 21.203094 m, bearing: 273.547902 deg, approach rate: -0.544454 m/s, LOS rate: -0.032702 deg/s, cmd heading: 275.881477 deg, new cmd heading: 275.845683 deg. 5DDAT read: Rx Time:04:13:57.1490 =TRx dataTimestamp_ set to:1761538438.364802EPDAT read: Bearing 92.0, -5.6 (Local) E~Local bearing/azimuth received: Bearing 92.0, -5.6 (Local) UDAT read: Range 11 to 50 : 21.9 m (trip time 14.6 ms) speed 0.4 }DAT read: 04:13:57.1490 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 509,-0.34, 2.627, 0.942, 2.965, 2.574, PHS= 0.155,-1.587, 0.347, RAW= 155.2, 11.7, CAL= 155.3, 13.0, ROT= 354.7, -13.0 Ygot valid direction response: 04:13:57.1490 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 509,-0.34, 2.627, 0.942, 2.965, 2.574, PHS= 0.155,-1.587, 0.347, RAW= 155.2, 11.7, CAL= 155.3, 13.0, ROT= 354.7, -13.0 T#Rx 61: Read range and direction messages. ^direction in FSK: [0.970204,-0.090003,0.224951] Fpublishing direction and range infoy15ym ?N(ӈq :/2?Y53A1111 1)5;I5R>i5"˿5>5-\-@5Q>1 5Vh>)1I5Vh115q?' ?W9 ? 5D#?)5 QI1i5Vh11-checking for new query: numPingsReceived=61, elapsed TxPingTime=30.009151BheuHeadingCmd: 4.814415 target range: 21.993649 and range: 22.10 m.hu@hy*hy"hy hygyfyffdddjd`f5@Zd ?AɢEUK)A EIiA)E1޼IIiM;ީiUU@[Qk,'a?AB">B B"YIB"BB B B"DB"v;B"0E>1h@>c@>tٱ>_|% FAHRS rotation from veh to nav: [[0.111904,0.981341,0.156359],[-0.993204,0.105388,0.049385],[0.031985,-0.160822,0.986465]]>H?$g?@? T@?H?`W`?ԕĿ?i>1h@I>A`;>sCYNByN-I\iMMb@Mb@Mb@IIII I9MK?Zd;O~jth?YM^>yMjMD;IM@ M( A)MZAIYMG AbDeVDeβyG<%%=ٔE Q->9Y=gFyD;E>Q 54ܝ?Q 942)YBY>Q E:yQ I?{CIU:i:4yBɮ`AʥEUDDAT read: Rx Time:04:13:57.6488 UTRx dataTimestamp_ set to:1761538438.868627ePDAT read: Bearing 93.5, -5.7 (Local) e~Local bearing/azimuth received: Bearing 93.5, -5.7 (Local) uDAT read: Range 11 to 50 : 21.6 m (trip time 14.4 ms) speed 0.4 DAT read: 04:13:57.6488 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 506, 0.09,-3.083, 1.541,-2.755,-3.103, PHS= 0.122,-1.594, 0.304, RAW= 155.0, 12.8, CAL= 155.2, 14.4, ROT= 354.8, -14.4 Ygot valid direction response: 04:13:57.6488 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 506, 0.09,-3.083, 1.541,-2.755,-3.103, PHS= 0.122,-1.594, 0.304, RAW= 155.0, 12.8, CAL= 155.2, 14.4, ROT= 354.8, -14.4 T#Rx 62: Read range and direction messages.^direction in FSK: [0.964597,-0.087785,0.248690]Fpublishing direction and range infoyQU3:?TPyl?YU̬AQQQQ Q)U<IU#=iU1̿U㥛>U"-@Ud>U-\-@ U>)U_(@IUQQU?C?K?Rii? UP?)U8eIU޹iUQQchecking for new query: numPingsReceived=62, elapsed TxPingTime=30.497061iQiUa?AJiUARiUAjiUӘ@bUe9)4@YGK1ò%b@RU3:?TPyl?ZiU޹biUjUr?{Yj4ŲC@ZUXuh?tV'.?2iU;:iU?"iUJ?*iUNBiUBiUJ?iUUiUBiUAiU&͘@u addTargetRange:: Added new target pos. range: 21.600000 m, deltaT: 1.007547 s, deltaX: -0.500000 m, approachRate: -0.496255 m/s, rangeRepo size: 4  Added new target pos. range: 21.496038 m, bearing: 273.635582 deg, lat: 36.779374 deg, lon: -121.859573 deg, deltaT: 1.007547 s, deltaX: -0.497610 m, approachRate: -0.493883 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 21.50 m.bhRhZh] ProNav: ac range: 21.496038 m, nav range: 20.832777 m, bearing: 273.589797 deg, approach rate: 0.000000 m/s, LOS rate: -0.032702 deg/s, cmd heading: 275.845686 deg, new cmd heading: 275.789072 deg. BhYeHeadingCmd: 4.813427 target range: 21.496038 and range: 21.60 m.he@ha*ha"ha hagafififm)Bdidqdjd5@Zdr?9Y=gFyD];E>Q 54ݝ?Q 94<9) ZBYyQ I?CI:iN:f4yɮYAiiJiRiji@be9)4@YGK1ò%b@R3:?TPyl?Zibijd??2Gᜈ4桰 @ZJV?^U*e U?2i$:i?"i"Q?*iyTBi!BiiyTiivAi4͘@jhDNOT Ignoring new targets: 21.50 m.bhRh~eZh~euDDAT read: Rx Time:04:13:58.1488 }TRx dataTimestamp_ set to:1761538439.372765PDAT read: Bearing 92.6, -5.7 (Local) ~Local bearing/azimuth received: Bearing 92.6, -5.7 (Local) DAT read: Range 11 to 50 : 21.6 m (trip time 14.4 ms) speed 0.4 ԩDAT read: 04:13:58.1488 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 506,-0.30, 2.840, 1.168,-3.100, 2.801, PHS= 0.141,-1.588, 0.339, RAW= 155.4, 12.1, CAL= 155.5, 13.4, ROT= 354.5, -13.4 Ygot valid direction response: 04:13:58.1488 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 506,-0.30, 2.840, 1.168,-3.100, 2.801, PHS= 0.141,-1.588, 0.339, RAW= 155.4, 12.1, CAL= 155.5, 13.4, ROT= 354.5, -13.4 T#Rx 63: Read range and direction messages.^direction in FSK: [0.968297,-0.093237,0.231748]Fpublishing direction and range infoyy}KJ?}M[޷] A?Yyyyyy y)yI}Nb>i}C˿}h>}^-@}@X>}-@ ProNav: ac range: 21.496038 m, nav range: 20.589939 m, bearing: 273.584596 deg, approach rate: -0.578757 m/s, LOS rate: -0.012540 deg/s, cmd heading: 275.789078 deg, new cmd heading: 275.773293 deg. Bh %HeadingCmd: 4.813152 target range: 21.496038 and range: 21.60 m.h%W@h!*h! }|o>)}z@I}|oyy}\3ʚ݅?8R? ? }&?)}0AWI})Ľi}|oyymchecking for new query: numPingsReceived=63, elapsed TxPingTime=31.011978"h! hgfffdddjdZd@?IɢMOG)I MiI)U,[QQiUi]*],\<]d'T;*E :VE (N4ZE 9 a- @aE @aE @aE @A I I! BQ BQ BQ BQ BQ BQ BQ O >BU \v;BU 0Eg{,a?A:@:@: ٱ: ^# bAHRS rotation from veh to nav: [[0.117291,0.981108,0.153847],[-0.992522,0.110533,0.051795],[0.033811,-0.158772,0.986736]]:H?=e?B? `K?優?O?RĿW?i:@I:Wsb;:rCY~By#IyiMb@Mb@Mb@ 9Mb?ˡEMbP?Y?y':A  A)AYp AbDVDP)yp%#=ٔQ->9Y)=-gFy-D5"j;E5>9Q 5E4=Vޝ?Q 9E4=?)=ZBYE?Q EE:yMFĿQ IM?=CI= ;i= ;=J4yQɮUAQiiba?AJiRijio@blς4@ )$h`8@RKJ?}M[޷] A?Zi)Ľbi|oj7??XU4uT@Z$?EF 󪉭?2i:i?"iɧF?*i}c^BirBiiiijAiϘ@ addTargetRange:: Added new target pos. range: 21.600000 m, deltaT: 0.504138 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 21.496033 m, bearing: 273.444897 deg, lat: 36.779374 deg, lon: -121.859572 deg, deltaT: 0.504138 s, deltaX: -0.000006 m, approachRate: -0.000011 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 21.50 m.bhRhZh ProNav: ac range: 21.496033 m, nav range: 20.302092 m, bearing: 273.608416 deg, approach rate: 0.000000 m/s, LOS rate: -0.012540 deg/s, cmd heading: 275.773286 deg, new cmd heading: 275.754136 deg. BhHeadingCmd: 4.812818 target range: 21.496033 and range: 21.60 m.h@h*h"h hgfff&BDDAT read: Rx Time:04:13:58.6485 TRx dataTimestamp_ set to:1761538439.876783PDAT read: Bearing 92.7, -5.5 (Local) ~Local bearing/azimuth received: Bearing 92.7, -5.5 (Local) DAT read: Range 11 to 50 : 21.2 m (trip time 14.1 ms) speed 0.4 =DAT read: 04:13:58.6485 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 503, 0.10,-1.896, 2.724,-1.556,-1.939, PHS= 0.144,-1.575, 0.338, RAW= 155.3, 12.0, CAL= 155.4, 13.3, ROT= 354.6, -13.3 EYgot valid direction response: 04:13:58.6485 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 503, 0.10,-1.896, 2.724,-1.556,-1.939, PHS= 0.144,-1.575, 0.338, RAW= 155.3, 12.0, CAL= 155.4, 13.3, ROT= 354.6, -13.3 ET#Rx 64: Read range and direction messages.M^direction in FSK: [0.968860,-0.091584,0.230050]MFpublishing direction and range infoy>o?2rgz}"Er?YA )=It>iɿV>x-@PwV>^-@ ,m>) @I,m7?M\?$ѫ`?dadadijdm@335@Zdm*?ԩ |?)UIi,m checking for new query: numPingsReceived=64, elapsed TxPingTime=31.5259309ɢefI)i mii)uVqqiui5;)]<J T/,[ b?A2 @2ݛ@2H ٱ2xa$ >AHRS rotation from veh to nav: [[0.118784,0.980803,0.154645],[-0.992316,0.111833,0.052930],[0.034619,-0.159744,0.986551]]2Hh?b?e?@@??࠹? {rĿԑ?i2 @I2Ib;0YBByFIbDNVDN02yV%VR=ٔVfQ-V>9XYX=ZgFyZD^;E^>`Q 5f4bޝ?Q 9f4bD)b!ZBYdyfĿQ Im?bCIbo?2rgz}"Er?Ziebie,mjejC9?Jc;>44ҩ7@Ze%?f%0?2ie:ieI?"ie",K?*ieIpYBie&BiaieUierBie$AieИ@ addTargetRange:: Added new target pos. range: 21.200001 m, deltaT: 0.504018 s, deltaX: -0.400000 m, approachRate: -0.793622 m/s, rangeRepo size: 4 I Added new target pos. range: 21.097958 m, bearing: 273.627951 deg, lat: 36.779374 deg, lon: -121.859573 deg, deltaT: 0.504018 s, deltaX: -0.398075 m, approachRate: -0.789803 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 21.10 m.bhRhZh ProNav: ac range: 21.097958 m, nav range: 20.142715 m, bearing: 273.615790 deg, approach rate: 0.000000 m/s, LOS rate: -0.012540 deg/s, cmd heading: 275.754135 deg, new cmd heading: 275.738078 deg. BhHeadingCmd: 4.812537 target range: 21.097958 and range: 21.20 m.hN@h*h"h hgfffdddjdZd@ׅ?eDDAT read: Rx Time:04:13:59.1485 eTRx dataTimestamp_ set to:1761538440.384660mPDAT read: Bearing 92.2, -5.5 (Local) u~Local bearing/azimuth received: Bearing 92.2, -5.5 (Local) DAT read: Range 11 to 50 : 21.2 m (trip time 14.1 ms) speed 0.6 DAT read: 04:13:59.1485 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 503,-0.29,-2.465, 2.142,-2.114,-2.518, PHS= 0.155,-1.578, 0.360, RAW= 155.5, 11.5, CAL= 155.6, 12.8, ROT= 354.4, -12.8 -Ygot valid direction response: 04:13:59.1485 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 503,-0.29,-2.465, 2.142,-2.114,-2.518, PHS= 0.155,-1.578, 0.360, RAW= 155.5, 11.5, CAL= 155.6, 12.8, ROT= 354.4, -12.8 =T#Rx 65: Read range and direction messages.M^direction in FSK: [0.970495,-0.095158,0.221548]MFpublishing direction and range infoyaeC@L?aL7F\@|[?Yaaaaa a)aIeR>ieɿeQ>e-@eM>e-@ ed>)e.@Iedaqae$?E8?uu? e?)eMIe)+Ƚiedaachecking for new query: numPingsReceived=65, elapsed TxPingTime=32.035976)ɢ-K)) -}i1)5w11i5Fi=2>=y]<=d2BBSIBBBBBBfv;B0E9OU?[,M/b?AYUBy]IiMb@Mb@Mb@ 9uV?S㥫Yr?y/]dA@ ( A)ZAYG A p<<bDVD0yP<%=ٔQ->9Y=gFy DE> Q 54ߝ?Q 94M)2ZBY% ?Q E:yƿQ I?CI:i:4y)ɮ-A)iiEb?AJiRiji@brF'y4@zaDfJc@RC@L?aL7F\@|[?Zi)+Ƚbidjw?9GcK4"V2G@Zn1Ǭ?}w&Si?2i\:i˗?"i/nC?*i7icBi֋BiiIpYiiAiӘ@ addTargetRange:: Added new target pos. range: 21.200001 m, deltaT: 0.507877 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 MDDAT read: Rx Time:04:13:59.6482 UTRx dataTimestamp_ set to:1761538440.884776]PDAT read: Bearing 91.8, -5.1 (Local) ]~Local bearing/azimuth received: Bearing 91.8, -5.1 (Local) mDAT read: Range 11 to 50 : 20.7 m (trip time 13.8 ms) speed 0.4 DAT read: 04:13:59.6482 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 500, 0.08,-1.719, 2.896,-1.376,-1.787, PHS= 0.170,-1.555, 0.367, RAW= 155.3, 11.1, CAL= 155.3, 12.3, ROT= 354.7, -12.3 Ygot valid direction response: 04:13:59.6482 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 500, 0.08,-1.719, 2.896,-1.376,-1.787, PHS= 0.170,-1.555, 0.367, RAW= 155.3, 11.1, CAL= 155.3, 12.3, ROT= 354.7, -12.3 T#Rx 66: Read range and direction messages.^direction in FSK: [0.972868,-0.090250,0.213030] Added new target pos. range: 21.097891 m, bearing: 273.344150 deg, lat: 36.779374 deg, lon: -121.859574 deg, deltaT: 0.507877 s, deltaX: -0.000067 m, approachRate: -0.000131 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 21.10 m.Fpublishing direction and range infoyIMjN!?G:ӣAzUmD?YMAIIII I)M>IM{.>iM= ǿMm>Mx-@bhMaF>Mx-@ M[>)M@IM[IIM*T?D.*? D? MU?)M FIMqiM[IRhZh9Ichecking for new query: numPingsReceived=66, elapsed TxPingTime=32.537758 ProNav: ac range: 21.097891 m, nav range: 19.956223 m, bearing: 273.631428 deg, approach rate: 0.000000 m/s, LOS rate: -0.012540 deg/s, cmd heading: 275.738070 deg, new cmd heading: 275.716079 deg. BhHeadingCmd: 4.812153 target range: 21.097891 and range: 21.20 m.h)@h*h"h hgfffBdd d jd @34@Zd `_?1];Bɢ]HK)Y ]Fia)eaaieimJms^,Nb?AF޺@F@F#ٱFH& RAHRS rotation from veh to nav: [[0.121899,0.980155,0.156322],[-0.991843,0.114383,0.056243],[0.037246,-0.161903,0.986104]]FH4?`n]?@Y?`.7H?ˬ?@?9Ŀ@)?iF޺@IFqb;DYVByZIbDbVDbhynҼ%nC=ٔnPͻQ-n>9pYp=rgFyrDv1;Ev>xQ 54zߝ?Q 94z}S)z>ZBY)y-.ƿQ I5?z DIz iȿK>^-@M>-@ b>)z@IbWv{?d#/?@V|? )Z?)DMI)Ľibchecking for new query: numPingsReceived=67, elapsed TxPingTime=33.0422671@1 @1@5/@1)^A] ]@,hb?Achecking for new query: numPingsReceived=67, elapsed TxPingTime=33.2534039bE:4jEh=4rE- 0E EEE"EW;*E:VEZEa5@a5@a=@a=@B>BBFIBBBBBBv;B0EBBBBBC©S4q@@hٱ' 5AHRS rotation from veh to nav: [[0.122511,0.979934,0.157229],[-0.991745,0.114834,0.057048],[0.037848,-0.162921,0.985913]]H\?[? ?`@e?r5?`?`Ŀ`?i@Ia;oCYByIiMb@Mb@Mb@ 9/$?ˡEMbpY&?y'A@ ? A)Y@AbDVDyF%=ٔ0Q->9!Y!=%gFy%D-:E->)Q 5=4-cᝊ?Q 9=4-\)-MZBY=?Q E=:y=¿Q IE?-#DI- ;i- ;-ɩ4yIɮMoAIiiJ Yb?AJiiARiiAjiژ@bv'3@Q'_z!_@R&a?@﷿F#?Zi)Ľbibj>.D?3e@Zrt?1V`2?2i:iݠ?"i>JK?*i}]BinBii}]i֋BipAi٘@ԑ addTargetRange:: Added new target pos. range: 20.400000 m, deltaT: 0.506599 s, deltaX: -0.300001 m, approachRate: -0.592187 m/s, rangeRepo size: 4  Added new target pos. range: 20.301708 m, bearing: 273.684862 deg, lat: 36.779375 deg, lon: -121.859576 deg, deltaT: 0.506599 s, deltaX: -0.298592 m, approachRate: -0.589404 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 20.30 m.bhRhZh ProNav: ac range: 20.301708 m, nav range: 19.554764 m, bearing: 273.679024 deg, approach rate: 0.000000 m/s, LOS rate: -0.012540 deg/s, cmd heading: 275.698810 deg, new cmd heading: 275.678252 deg. BhDDAT read: Rx Time:04:14:00.6478 TRx dataTimestamp_ set to:1761538441.893010PDAT read: Bearing 91.7, -5.2 (Local) ~Local bearing/azimuth received: Bearing 91.7, -5.2 (Local) %DAT read: Range 11 to 50 : 20.1 m (trip time 13.4 ms) speed 0.4 HeadingCmd: 4.811493 target range: 20.301708 and range: 20.40 m.h@h*h"h hgfffBDAT read: 04:14:00.6478 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 496,-0.14, 2.605, 0.916, 2.960, 2.534, PHS= 0.173,-1.574, 0.381, RAW= 155.6, 11.0, CAL= 155.6, 12.1, ROT= 354.4, -12.1 d d d  Ygot valid direction response: 04:14:00.6478 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 496,-0.14, 2.605, 0.916, 2.960, 2.534, PHS= 0.173,-1.574, 0.381, RAW= 155.6, 11.0, CAL= 155.6, 12.1, ROT= 354.4, -12.1  T#Rx 68: Read range and direction messages. ^direction in FSK: [0.973117,-0.095415,0.209619]% Fpublishing direction and range infoy{#?4lm9h?Y̠Ajd `ff4@ZdM ?q ɢu :M)y } iy )} y y i [^i g` )I&1>ixɿo>-@ D>-@ @X>).@I@Xv}?evD?׼]? M?)k!DI)+Ƚi@X checking for new query: numPingsReceived=68, elapsed TxPingTime=33.563099 Q_< [T=I @I a @a  @a @e /@a checking for new query: numPingsReceived=68, elapsed TxPingTime=33.758377^A9=I IO%?B,p}b?ABԾ@B@ByٱBZ) ZAHRS rotation from veh to nav: [[0.122372,0.979711,0.158718],[-0.991730,0.114473,0.058027],[0.038681,-0.164506,0.985617]]|BHS?Y?P?A@N?@?ͣ?@ſ@-?iBԾ@IBa;BqCY y IbDVDy-;%-t=ٔ5#Q-5?D1zD5AAE9 E=E=)E9"E9*E=:VE=FA4ZE9BE=E=^-@=f_>='-@ =5z>)=@I=5z99=/`t?] ?{Ιt? =6M?)=9_I=)˽i=5z99 checking for new query: numPingsReceived=69, elapsed TxPingTime=34.075241y ^AQ I I O >z,bLb?AB@B|@B ٱB, JAHRS rotation from veh to nav: [[0.122230,0.979310,0.161283],[-0.991728,0.114095,0.058809],[0.039191,-0.167137,0.985154]]BHuJ?`V??;L5?:? ? dſb?iB@IB" a;BrCY}By IYbDVDy%A=ٔQ->9Y=gFy.D5E=>9Q 5E4==㝊?Q 9M4=h)=aZBYIyM¿Q IM?=?DI=d:i=:=ש4}checking for new query: numPingsReceived=69, elapsed TxPingTime=34.261730yɮAiqiub?AJiu:ARiu:Ajiu@bup1V73@X;B@Ru@g\?r ̬79K?Ziu)˽biu5zjus?OF}^2mD@Zum1) ?Otu?2iu:iu?"iu#SL?*iu1[Biu Biu>JK?iqiqiuҘAiuݘ@ addTargetRange:: Added new target pos. range: 20.000000 m, deltaT: 0.507501 s, deltaX: -0.100000 m, approachRate: -0.197045 m/s, rangeRepo size: 4  Added new target pos. range: 19.903637 m, bearing: 273.756473 deg, lat: 36.779375 deg, lon: -121.859576 deg, deltaT: 0.507501 s, deltaX: -0.099518 m, approachRate: -0.196094 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 19.90 m.Ee EeEe+Ea"EeP;*Ee:VEe [4ZEaa@ԉa@a@a@bhB<A<Rh ZhBe>BaBe@IBeBBaBaBaBev;Be0E]G{9aYeeA ProNav: ac range: 19.903637 m, nav range: 19.102674 m, bearing: 273.706197 deg, approach rate: 0.000000 m/s, LOS rate: -0.012540 deg/s, cmd heading: 275.665042 deg, new cmd heading: 275.648218 deg. Bh%HeadingCmd: 4.810969 target range: 19.903637 and range: 20.00 m.h%u@h!*h!"h! h!g)f)f)fidqdqdqjdu4@Zduc?9BɢiE +ǿE 1>E c-@E Q>E c-@ E Vh>)E DS@IE VhA A E R,9Y=gFy9DE>E! EE*E"EY;*E:VE(N4ZEBE֬iuȿף>^-@BR>-@  j>)z@I j$΅?y3(?`.? KO?)-RI)Ľi j checking for new query: numPingsReceived=71, elapsed TxPingTime=35.074493Q ^AI ychecking for new query: numPingsReceived=71, elapsed TxPingTime=35.269749AIIO?%",b?Az@zz@z;,ٱzh.E EE(E"EP;*E:VEc44ZEa@a@a@a@ mAHRS rotation from veh to nav: [[0.121246,0.979112,0.163216],[-0.991732,0.112525,0.061691],[0.042037,-0.169347,0.984660]]zH ? T?@F?Duμ?@? څ?'ſU?iz@Iz _;xBBBFIBBBBBBv;B0EYeByeIDDAT read: Rx Time:04:14:02.6470 TRx dataTimestamp_ set to:1761538443.911210PDAT read: Bearing 93.2, -5.4 (Local) ~Local bearing/azimuth received: Bearing 93.2, -5.4 (Local) DAT read: Range 11 to 50 : 18.9 m (trip time 12.6 ms) speed 0.7 DAT read: 04:14:02.6470 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 504, 0.10,-1.729, 2.904,-1.388,-1.768, PHS= 0.141,-1.565, 0.337, RAW= 155.4, 12.0, CAL= 155.5, 13.3, ROT= 354.5, -13.3 Ygot valid direction response: 04:14:02.6470 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 504, 0.10,-1.729, 2.904,-1.388,-1.768, PHS= 0.141,-1.565, 0.337, RAW= 155.4, 12.0, CAL= 155.5, 13.3, ROT= 354.5, -13.3  T#Rx 72: Read range and direction messages.^direction in FSK: [0.968699,-0.093275,0.230050]Fpublishing direction and range infoyx(V ?෿gz}"Er?Y3A );INb>iQȿD>PwV> ,m>)I,m4r9?Ya?/q&m? ?)VIi,m5checking for new query: numPingsReceived=72, elapsed TxPingTime=35.546211! a @a a @a a @a a @a bD] VD] ym x <%m <ٔm iQ-u _>9q Yq =u gFyu JD} E} _> Q 5 4 |杊?Q 9 4 p|) ZBQ A +:Y Q E :y ¿Q I ? qDI /:i L? @4y ɮ A iiDQb?AJixARixAji"@bN\82@c N@Rx(V ?෿gz}"Er?Zi)Ľbi,mj!zb)?OP_1BܞdK@ZL?>ʯkI?2i:iK?"i XhK?*i8UQ Bi/Bi XhK?i1[i/BiAi@m  addTargetRange:: Added new target pos. range: 18.900000 m, deltaT: 1.008372 s, deltaX: -0.600000 m, approachRate: -0.595019 m/s, rangeRepo size: 4   Added new target pos. range: 18.808905 m, bearing: 273.806483 deg, lat: 36.779375 deg, lon: -121.859575 deg, deltaT: 1.008372 s, deltaX: -0.597107 m, approachRate: -0.592149 m/s, posRepo size: 4 jh  DNOT Ignoring new targets: 18.81 m.bh Rh Zh U  ProNav: ac range: 18.808905 m, nav range: 18.257109 m, bearing: 273.761168 deg, approach rate: 0.000000 m/s, LOS rate: -0.012540 deg/s, cmd heading: 275.625918 deg, new cmd heading: 275.595974 deg. BhQ ] HeadingCmd: 4.810057 target range: 18.808905 and range: 18.90 m.h] @hY *hY "hY  ha ga fa f f d d d jd `f2@Zd `?m7Bɢm E)q u+iq)un%qqiui}w}7oc<W=I@IY>i>%checking for new query: numPingsReceived=72, elapsed TxPingTime=35.773720ԁY@Y @Y@]0@YE E!E'E"EUS;*E:VE'4ZEBEZiʿ>^ Z>-@ s>).@IsT{?U"?h+? R?)EZI)+Ƚisfchecking for new query: numPingsReceived=73, elapsed TxPingTime=36.046658Y]@=@=e@=̷3ٱ=v/ MAHRS rotation from veh to nav: [[0.120622,0.979122,0.163614],[-0.991729,0.111573,0.063442],[0.043862,-0.169913,0.984482]]Q=H?T?N?>?=? !u?@ſ ?i=@I=_;=oCYBy'IbDVD0y;=%#=ٔZoQ->9 Y =MgFyMTDUEU>YQ 5]4]睊?Q 9e4])]ZBQ Ae :YaQ Eeu:ye¿Q Ie?]DI]:i]?]4yɮUAii5zc?AJiARiAjin@b 2@oѸvdDS@Rf۲M?&ȳG#?Zi)+ȽbisjZr1?|m10B2@Z*?%q>,N?2i:i)?"i-I?*iYBipBii$ZiiFAi@ addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.502499 s, deltaX: -0.100000 m, approachRate: -0.199006 m/s, rangeRepo size: 4   Added new target pos. range: 18.709387 m, bearing: 273.731645 deg, lat: 36.779375 deg, lon: -121.859574 deg, deltaT: 0.502499 s, deltaX: -0.099518 m, approachRate: -0.198046 m/s, posRepo size: 4 jh DNOT Ignoring new targets: 18.71 m.bhRhZhe ProNav: ac range: 18.709387 m, nav range: 17.909410 m, bearing: 273.789315 deg, approach rate: 0.000000 m/s, LOS rate: -0.012540 deg/s, cmd heading: 275.595975 deg, new cmd heading: 275.577637 deg. BhimHeadingCmd: 4.809737 target range: 18.709387 and range: 18.80 m.hm^@hq*hq"hq hqgqfqfyfyԁdyd!d!jd%2@Zd%?颍6BɢQ) Ni)lQii򙼿3d<f=I^@Ichecking for new query: numPingsReceived=73, elapsed TxPingTime=36.278450ԩ@ @@/@E  E E *E "E >T;*E &:VE (N4ZE a @a @a @a @A A B >B B SIB BB B B B v;B 0E ^A =DDAT read: Rx Time:04:14:03.6466 TRx dataTimestamp_ set to:1761538444.919303PDAT read: Bearing 95.6, -6.7 (Local) AI~Local bearing/azimuth received: Bearing 95.6, -6.7 (Local) DAT read: Range 11 to 50 : 18.5 m (trip time 12.3 ms) speed 0.6 DAT read: 04:14:03.6466 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 500,-0.21,-2.186, 2.464,-1.819,-2.152, PHS= 0.068,-1.622, 0.290, RAW= 156.1, 13.9, CAL= 156.5, 15.7, ROT= 353.5, -15.7 I!O-?L,H;c?AuYgot valid direction response: 04:14:03.6466 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 500,-0.21,-2.186, 2.464,-1.819,-2.152, PHS= 0.068,-1.622, 0.290, RAW= 156.1, 13.9, CAL= 156.5, 15.7, ROT= 353.5, -15.7 JT#Rx 74: Read range and direction messages.N^direction in FSK: [0.956503,-0.108980,0.270600]NFpublishing direction and range infoy|) ?ѻ滿RlyQ?YA );IC=iϿz>].@Ulx>.@ K>)n@IKY5?hM?? -D!?)wIViK~checking for new query: numPingsReceived=74, elapsed TxPingTime=36.582085YBy<I aa aa aa a%a% i%Mb@Mb@Mb@!!!! !9%n?Mb9Y=gFy`DE>Q 54nꝊ?Q 94)ZBQ AT:Y?Q E:yQ I?DIM;iH;741y9ɮ=A9ii:c?AJiIARiIAji@b* -1@on# Lˎ@R|) ?ѻ滿RlyQ?ZiVbiKjbh+1?_^H_1s@Zgs? W21!|?2i:iy?"iI>%/@ 2+>)C@I2+d7+?!L%.?>? R!?)2Ii2+Mchecking for new query: numPingsReceived=75, elapsed TxPingTime=37.051792QAIIO?,_c?A2@2թ@2$;ٱ2l. JAHRS rotation from veh to nav: [[0.120423,0.979233,0.163098],[-0.991672,0.111104,0.065136],[0.045662,-0.169584,0.984457]]2HԾ?U? i?ƻ`Iq??a?ſ?i2@I2_^;2pCYRByVMIԉbDmVDmkyf=%&=ٔ^pQ->9Y=gFyjDϹE>)Q 554-읊?Q 954-)-ZBYyQ I?-DI-zA@be80@3D-*O@Re2ME?.3x`༿z0Gu?Ziebie2+jeLh?>0y5oy@Ze|(?ށ3BYf$?2ied:ieBs?"ierBqBurIBuҀBBqBqBqBuv;Bu0E颕3Bɢ6>) ^}i)顙iGie<=I@I  @  @ @ @ 1 A I I O >,[zc?A6DDAT read: Rx Time:04:14:04.6460 6TRx dataTimestamp_ set to:1761538445.924964:PDAT read: Bearing 97.3, -7.2 (Local) >~Local bearing/azimuth received: Bearing 97.3, -7.2 (Local) FDAT read: Range 11 to 50 : 17.6 m (trip time 11.7 ms) speed 0.5 ZDAT read: 04:14:04.6460 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 510, 0.40,-1.503, 3.139,-1.128,-1.428, PHS= 0.027,-1.670, 0.256, RAW= 156.2, 15.1, CAL= 156.9, 17.3, ROT= 353.1, -17.3 ^Ygot valid direction response: 04:14:04.6460 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 510, 0.40,-1.503, 3.139,-1.128,-1.428, PHS= 0.027,-1.670, 0.256, RAW= 156.2, 15.1, CAL= 156.9, 17.3, ROT= 353.1, -17.3 ^T#Rx 76: Read range and direction messages.b^direction in FSK: [0.947846,-0.114702,0.297375]bFpublishing direction and range infoy46 T?wI]+0?Y6̌A4444 4)6<I6/6!z.@6V>6LB/@ 6#>)6P5@I6#4461!h?>V\E?žg? 6!?)6I6i6#44rchecking for new query: numPingsReceived=76, elapsed TxPingTime=37.554226}@}䭚@}=ٱ}|.ԑ AHRS rotation from veh to nav: [[0.120911,0.979221,0.162806],[-0.991584,0.111496,0.065807],[0.046287,-0.169393,0.984461]]}H@?@U? ? @?ذ??৮ſ?i}@I}^;}rCYɀBygIi=Mb@Mb@Mb@9999 99=ʡE?9IYI=MgFyMtDU:EU>Q 54?Q 94)ZBYJ?Q E:yQ I?DI:i: 4yɮDAi4i62{c?AJi6ARi6Aji6@b66vq 0@} ]z @R6 T?wI]+0?Zi6bi6#j6f8yj?)W0@Z6Mq?q"Jf?2i6:i6Vc?"i69?*i6IIBi6BBi6r,uc?AԑY-ڀBy-|IbDVD:DDAT read: Rx Time:04:14:05.1459 TRx dataTimestamp_ set to:1761538446.428768%PDAT read: Bearing 96.7, -6.9 (Local) %~Local bearing/azimuth received: Bearing 96.7, -6.9 (Local) 5DAT read: Range 11 to 50 : 17.4 m (trip time 11.6 ms) speed 0.5 ]DAT read: 04:14:05.1459 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 509, 0.32,-0.001,-1.654, 0.375, 0.056, PHS= 0.046,-1.665, 0.275, RAW= 156.2, 14.5, CAL= 156.8, 16.6, ROT= 353.2, -16.6 eYgot valid direction response: 04:14:05.1459 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 509, 0.32,-0.001,-1.654, 0.375, 0.056, PHS= 0.046,-1.665, 0.275, RAW= 156.2, 14.5, CAL= 156.8, 16.6, ROT= 353.2, -16.6 eT#Rx 77: Read range and direction messages.m^direction in FSK: [0.951581,-0.113469,0.285688]mFpublishing direction and range infoyw$Zs?TWXN WԷH?Y3A )Ij<=iտ̌>>%/@ V>)C@IV]kq? :K?Ex!? !?)AIiVchecking for new query: numPingsReceived=77, elapsed TxPingTime=38.057457yϷ=%b=ٔQ->9 ?Y ?=gFy{DE>IQ 5M4M?Q 9U4MQ =UtI)MZBYQyQQ IU?MDIM7:iM:M.4ye4BɮeAaԹiipc?AJiARiAjif@bfuLz0@&Cp]`@Rw$Zs?TWXN WԷH?ZibiVj }?/z;02S@Z/wթ?t_R ?2i܁:i_?"i3`:?*i}ƇLBiȌBiI(,hˮc?A@bEUFA4jEU>4rEU 0E& E&;E&(E$"E&&U;*E& ;VE&c44ZE$a*@a*@a*@a*@B,A.<B2>B0B2IB2BB2 =B0B0B2v;B20EB!B!B!B!B!C%4)YByIA-DDAT read: Rx Time:04:14:05.6457 -TRx dataTimestamp_ set to:1761538446.9328325PDAT read: Bearing 97.5, -6.9 (Local) =~Local bearing/azimuth received: Bearing 97.5, -6.9 (Local) MDAT read: Range 11 to 50 : 17.0 m (trip time 11.3 ms) speed 0.4 mDAT read: 04:14:05.6457 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 506, 0.48,-1.760, 2.877,-1.390,-1.689, PHS= 0.031,-1.673, 0.254, RAW= 156.1, 15.0, CAL= 156.7, 17.2, ROT= 353.3, -17.2 uYgot valid direction response: 04:14:05.6457 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 506, 0.48,-1.760, 2.877,-1.390,-1.689, PHS= 0.031,-1.673, 0.254, RAW= 156.1, 15.0, CAL= 156.7, 17.2, ROT= 353.3, -17.2 }T#Rx 78: Read range and direction messages.^direction in FSK: [0.948754,-0.111453,0.295708]Fpublishing direction and range infoy)-h0&2\?{05-?Y-A)))) ))->I--].@- >- /@ -`>)-Q@I-`))- @t?xOM!2?cӜ? -+!?)-pI-|i-`))checking for new query: numPingsReceived=78, elapsed TxPingTime=38.561512iMb@Mb@Mb@ 9!rh?~jtx~jt?Yl?yĻ<@  A)AY(AbDVD y<%U=ٔYQ-]>9YYY=egFyeDaEe>iQ 54m[?Q 94m)mZBY?Q E:y/Q I?mDIm*=R.@=G\>=^/@ =>)='@I=99= Gx?(^?b{D? =B"?)=uI=5i=99checking for new query: numPingsReceived=79, elapsed TxPingTime=39.065708ٔWpQ->9Y=gFyD<E>Q 54?Q 9E4B)[BYAyEQ IM?DI&&?*i=zFOBi=֌Bi=rB B IB BB =B B B v;B 0E ! ! ^Ae I =) Y m9iYmqkAԁIIO >K,Pc?A@mܚ@Dٱ- AHRS rotation from veh to nav: [[0.126531,0.978840,0.160820],[-0.990798,0.116856,0.068296],[0.048058,-0.167982,0.984618]]H)2?@R? •?B?`{? ?`nſ?i@I(_;oCY ByI}DDAT read: Rx Time:04:14:06.6454 TRx dataTimestamp_ set to:1761538447.940733PDAT read: Bearing 98.1, -7.5 (Local) ~Local bearing/azimuth received: Bearing 98.1, -7.5 (Local) DAT read: Range 11 to 50 : 16.5 m (trip time 11.0 ms) speed 0.4 ԱDAT read: 04:14:06.6454 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 503,-0.00,-2.980, 1.666,-2.594,-2.889, PHS= 0.010,-1.684, 0.251, RAW= 156.5, 15.4, CAL= 157.3, 17.7, ROT= 352.7, -17.7 Ygot valid direction response: 04:14:06.6454 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 503,-0.00,-2.980, 1.666,-2.594,-2.889, PHS= 0.010,-1.684, 0.251, RAW= 156.5, 15.4, CAL= 157.3, 17.7, ROT= 352.7, -17.7 T#Rx 80: Read range and direction messages.^direction in FSK: [0.944940,-0.121049,0.304033]Fpublishing direction and range infoy.@>/@ 2+>)@I2+F ~?`?syUUt9Y=gFyD ;E>Q 54?Q 9=4׶)&[BY=}>Q EE:yEnQ IE?DIli?*i)XHBiBi$)>?iIIiiuAi)@} addTargetRange:: Added new target pos. range: 16.500000 m, deltaT: 0.503923 s, deltaX: -0.500000 m, approachRate: -0.992215 m/s, rangeRepo size: 4  Added new target pos. range: 16.420431 m, bearing: 273.076895 deg, lat: 36.779373 deg, lon: -121.859568 deg, deltaT: 0.503923 s, deltaX: -0.497654 m, approachRate: -0.987560 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 16.42 m.bhRhZh ProNav: ac range: 16.420431 m, nav range: 15.344849 m, bearing: 273.065313 deg, approach rate: 0.000000 m/s, LOS rate: -0.012540 deg/s, cmd heading: 275.466829 deg, new cmd heading: 275.444561 deg. BhHeadingCmd: 4.807415 target range: 16.420431 and range: 16.50 m.h-W֙@h1*h1"h1 h1g1f1f9f=kBd9d9dAjdE0@ZdE *?-Bɢ) $i)Ąi×i漿 ^j< $=I W֙@I U l>iU >5 checking for new query: numPingsReceived=80, elapsed TxPingTime=39.806870 L@  @ @ 4@ D zD E  E E E "E V;*E :VE ZE BE 9Y=gFyD};E>Q 54?Q 94)3[BY y 5Q I ? DI*%%/@>F/@ r>)@Irj1?+?Y?? q$?)+I@ir checking for new query: numPingsReceived=81, elapsed TxPingTime=40.073364iiud?AJiARiAji0d@ble.@VP@RA;m?<]"HN-?Zi@birAju?oR/7.FN@Zr?H#?2iq:i@?"iB`:?*iO IBi5BiiO Ii֌BirAi|@ addTargetRange:: Added new target pos. range: 16.200001 m, deltaT: 0.503941 s, deltaX: -0.299999 m, approachRate: -0.595306 m/s, rangeRepo size: 4 e Added new target pos. range: 16.121880 m, bearing: 272.855667 deg, lat: 36.779373 deg, lon: -121.859567 deg, deltaT: 0.503941 s, deltaX: -0.298552 m, approachRate: -0.592434 m/s, posRepo size: 4 jhaeDNOT Ignoring new targets: 16.12 m.bhaRhiZhi} ProNav: ac range: 16.121880 m, nav range: 15.128824 m, bearing: 273.022272 deg, approach rate: 0.000000 m/s, LOS rate: -0.012540 deg/s, cmd heading: 275.444563 deg, new cmd heading: 275.429617 deg. BhyHeadingCmd: 4.807154 target range: 16.121880 and range: 16.20 m.h4ԙ@h*h"h hgfffdddjd@330@Zd ݲ?颁ɢ-) xi)H顉i瘻iKB B IB 3BB =B B B v;B E  E E (E "E >T;*E ]:VE c44ZE BE "<2E "<JE K<:E K<I I O > ,+O2d?A @ @ *Aٱ , eAHRS rotation from veh to nav: [[0.132736,0.978103,0.160297],[-0.990022,0.123120,0.068541],[0.047304,-0.167796,0.984686]] H|? L??B ҄?@ߋ?48?@Uzſ?i @I _; lCY}By}IDDAT read: Rx Time:04:14:07.6450 TRx dataTimestamp_ set to:1761538448.948791PDAT read: Bearing 97.4, -7.8 (Local)  ~Local bearing/azimuth received: Bearing 97.4, -7.8 (Local) DAT read: Range 11 to 50 : 15.9 m (trip time 10.6 ms) speed 0.4 =DAT read: 04:14:07.6450 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 499,-0.00, 0.002,-1.627, 0.412, 0.083, PHS= 0.021,-1.665, 0.285, RAW= 157.2, 14.7, CAL= 157.8, 16.9, ROT= 352.2, -16.9 EYgot valid direction response: 04:14:07.6450 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 499,-0.00, 0.002,-1.627, 0.412, 0.083, PHS= 0.021,-1.665, 0.285, RAW= 157.2, 14.7, CAL= 157.8, 16.9, ROT= 352.2, -16.9 MT#Rx 82: Read range and direction messages.U^direction in FSK: [0.947961,-0.129854,0.290702]UFpublishing direction and range infoy#]U?92gOTcݚ?Yf~A );I1/@G\>C0@ >)@I}Jv?{[?mݣ;? M&?)|MIg iuchecking for new query: numPingsReceived=82, elapsed TxPingTime=40.577450iMb@Mb@Mb@ 9ʡE?{Gz{Gzt?Y->y#ף;A  A!)(AYQAimAAbDmVDmy}o<%} =ٔ|:Q->9Y=gFyD8;E>Q 54?Q 9]4)D[BYe>>Q Ee:yerQ Ie?DIhK?@v?e?`Ǒ?`$?oſ@?i2G#@I2]_;2mCYRByRIbDUVDUye6=%eX=ٔmM9Q-m>9iY=gFyD);E5>AQ 54EX?Q 94E)EP[BYy8Q I?E)DIEs^/@5z>x 0@ q>):@Iqӟ?&P?e]? j%?)OyIiq]checking for new query: numPingsReceived=83, elapsed TxPingTime=41.087955e ProNav: ac range: 15.823390 m, nav range: 14.639461 m, bearing: 272.915197 deg, approach rate: -0.469493 m/s, LOS rate: -0.119703 deg/s, cmd heading: 275.408445 deg, new cmd heading: 275.266942 deg. BheMmHeadingCmd: 4.804315 target range: 15.823390 and range: 15.90 m.hm@hi*hi"hi higqfqfqfqdyddjd/@Zdϡ?)ɢ-C)) 5i1)511i5⛻Yi}K}*m<}J=I@I@@ @@/@ԁ^A l;=e checking for new query: numPingsReceived=83, elapsed TxPingTime=41.318569Ա B >B B IB GBB =B EE  EE EE &EA "EE V;*EE A:VEE 4ZEA BEE |E,vsd?A<ԡ1@k,@ @ٱ2+ EAHRS rotation from veh to nav: [[0.136207,0.977812,0.159158],[-0.989571,0.126686,0.068555],[0.046871,-0.166835,0.984870]]H;o?LB/@BR>~{/@ k>)@Ik} ?omY?`8? X$?)>SIik-checking for new query: numPingsReceived=84, elapsed TxPingTime=41.586243iMb@Mb@Mb@ 9+?Mb~jtx?Y>y;IA $ A)AYAbD-VD-y%<%<ٔ9Q->9"?Y"?=gFyD_+;E>Q 54?Q 94M)c[BY>Q E:y㻿Q I?;DI:i:S4y ɮ >A ii>A}d?AJivARivAjilz@b--@S !`- @R&f?]?Sξ :?Zibikj7v>?(̘L{-LDW@Z켩?8׀c8,?2ik:iF?"iO&-C?*i.SBiBiiO Ii=BifAiic@ addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 1.008316 s, deltaX: -0.400000 m, approachRate: -0.396701 m/s, rangeRepo size: 4 5  Added new target pos. range: 15.425266 m, bearing: 273.011191 deg, lat: 36.779373 deg, lon: -121.859567 deg, deltaT: 1.008316 s, deltaX: -0.398124 m, approachRate: -0.394840 m/s, posRepo size: 4 jh1 5 DNOT Ignoring new targets: 15.43 m.bh9 Rh= Zh9   ProNav: ac range: 15.425266 m, nav range: 14.379604 m, bearing: 272.850235 deg, approach rate: 0.000000 m/s, LOS rate: -0.119703 deg/s, cmd heading: 275.266951 deg, new cmd heading: 275.036881 deg. Bh  HeadingCmd: 4.800299 target range: 15.425266 and range: 15.50 m.h @h *h "h  h g f f f Bd d d jd /@Zd ? U +BɢU )Y ϼi ) 0顙 i %i 7Ͻ o< ]=I @I ] checking for new query: numPingsReceived=84, elapsed TxPingTime=41.821911u A@q  @q @u 0@q ) D)zD-AAEM* EMEM*EI"EMa;*EMx:VEM(N4ZEIau@au@au@au@Y^A]G=AIIO?Nn&,d?A;ɰT:I@ D@U.<ٱ. %AHRS rotation from veh to nav: [[0.139066,0.976965,0.161865],[-0.989217,0.129468,0.068460],[0.045926,-0.169640,0.984435]]H?KC??`h??`?Ķſ~?5DDAT read: Rx Time:04:14:09.1447 =TRx dataTimestamp_ set to:1761538450.460721EPDAT read: Bearing 94.2, -5.3 (Local) E~Local bearing/azimuth received: Bearing 94.2, -5.3 (Local) UDAT read: Range 11 to 50 : 15.5 m (trip time 10.3 ms) speed 0.4 }DAT read: 04:14:09.1447 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 512,-0.05,-0.954,-2.824,-0.573,-1.009, PHS= 0.157,-1.770, 0.392, RAW= 155.7, 11.9, CAL= 155.8, 13.2, ROT= 354.2, -13.2 Ygot valid direction response: 04:14:09.1447 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 512,-0.05,-0.954,-2.824,-0.573,-1.009, PHS= 0.157,-1.770, 0.392, RAW= 155.7, 11.9, CAL= 155.8, 13.2, ROT= 354.2, -13.2 T#Rx 85: Read range and direction messages.^direction in FSK: [0.968595,-0.098386,0.228351]Fpublishing direction and range infoy15^䚯?&/ :?Y11111 1)1I5 >i5\⿉59>5'-@5ȭT>5.@ 1)5@I1115d]:o?|{D?|6Q? 5p?)5TI5)QϽi111checking for new query: numPingsReceived=85, elapsed TxPingTime=42.089417i:I@I,m^;YByIbDEVDEyU%U;=ٔ] ;Q-]>9YY=gFyD7;E>Q 54?Q 94a)p[BYyQ I?HDI&By B} IE ! E E E "E Y;*E :VE ZE B} LBB} =By By B} v;B} 0E^A 5[=a AI)I9OE?.,6d?AUDDAT read: Rx Time:04:14:09.6444 UTRx dataTimestamp_ set to:1761538450.964745]PDAT read: Bearing 93.6, -6.9 (Local) e~Local bearing/azimuth received: Bearing 93.6, -6.9 (Local) uDAT read: Range 11 to 50 : 15.0 m (trip time 10.0 ms) speed 0.3 DAT read: 04:14:09.6444 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 510,-0.35,-2.563, 2.091,-2.145,-2.578, PHS= 0.118,-1.569, 0.389, RAW= 157.3, 11.6, CAL= 157.5, 12.8, ROT= 352.5, -12.8 Ygot valid direction response: 04:14:09.6444 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 510,-0.35,-2.563, 2.091,-2.145,-2.578, PHS= 0.118,-1.569, 0.389, RAW= 157.3, 11.6, CAL= 157.5, 12.8, ROT= 352.5, -12.8 T#Rx 86: Read range and direction messages.^direction in FSK: [0.966807,-0.127283,0.221548]Fpublishing direction and range infoyQU?p/J@|[?YUpAQQQQ Q)U<IU=iUȿU+>U/@U4QO>U/@ Ud>)U@IUdQQU`?`z?@}? U&?)UeNIU iUdQQchecking for new query: numPingsReceived=86, elapsed TxPingTime=42.593479Y=ByEIIM<)M;iEMb@Mb@Mb@AAAA A9EʡE?y&1{GztYE>yE`eEףAEx@ E A)AAYEAbDVD1y% =ٔQ->9Y=gFyDE> Q 5U4 ?Q 9U4 q) |[BYU>Q EU:y]1Q I]? YDI :i : d4yaɮe&AaiQiUbd?AJiUnARiUnAjiUT@bU2%ŏN,@baf&.u @RU?p/J@|[?ZiU biUdjURr?D;p,7@ZU=*?um6b.?2iUd:iU/?"iU ??*iUxSBiUBiU ??iU.SiUBiUdAiU5U@U addTargetRange:: Added new target pos. range: 15.000000 m, deltaT: 0.504024 s, deltaX: -0.500000 m, approachRate: -0.992016 m/s, rangeRepo size: 4  Added new target pos. range: 14.927739 m, bearing: 272.747577 deg, lat: 36.779373 deg, lon: -121.859571 deg, deltaT: 0.504024 s, deltaX: -0.497527 m, approachRate: -0.987110 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 14.93 m.bhRhZh ProNav: ac range: 14.927739 m, nav range: 14.295578 m, bearing: 272.750910 deg, approach rate: 0.000000 m/s, LOS rate: -0.119703 deg/s, cmd heading: 274.857877 deg, new cmd heading: 274.663767 deg. Bh HeadingCmd: 4.793787 target range: 14.927739 and range: 15.00 m.h f@h *h "h  h g fffkBdddjd.@Zd]LM?ɢ ) p/@Ulx>'0@ q>)@IqKi?&]?3? B&?)QxI iq-checking for new query: numPingsReceived=87, elapsed TxPingTime=43.097492IO5?Kj7,d?A2S@2M@2%:4ٱ215 ZAHRS rotation from veh to nav: [[0.140252,0.975758,0.168007],[-0.989074,0.130292,0.068964],[0.045402,-0.175844,0.983370]]2H@?g9?D?h?@?>?ƿ@w?i2S@I2Bk^;2kCYbBybIbDhVDhyc% 8=ٔ :Q- >9Y=gFyD3;E>Q 5e4?Q 9m4)[BYiym Q Im?fDI %>,d?ARDDAT read: Rx Time:04:14:10.6442 RTRx dataTimestamp_ set to:1761538451.972809ZPDAT read: Bearing 94.5, -7.1 (Local) Z~Local bearing/azimuth received: Bearing 94.5, -7.1 (Local) bDAT read: Range 11 to 50 : 14.7 m (trip time 9.8 ms) speed 0.4 vDAT read: 04:14:10.6442 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 507,-0.10,-1.613, 3.046,-1.199,-1.604, PHS= 0.093,-1.589, 0.361, RAW= 157.3, 12.4, CAL= 157.6, 13.9, ROT= 352.4, -13.9 zYgot valid direction response: 04:14:10.6442 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 507,-0.10,-1.613, 3.046,-1.199,-1.604, PHS= 0.093,-1.589, 0.361, RAW= 157.3, 12.4, CAL= 157.6, 13.9, ROT= 352.4, -13.9 zT#Rx 88: Read range and direction messages.~^direction in FSK: [0.962189,-0.128383,0.240228]Fpublishing direction and range infoyPRce(A?hinؼʿ?YR3kAPPPP P)R<IRv=iRZd˿RԸ>R/@Rk]>Rx 0@ RUlx>)R:@IRUlxPPRX/]?CqF?[.g? RE&?)RJ\IRiRUlxPPchecking for new query: numPingsReceived=88, elapsed TxPingTime=43.6019903H@C@;ٱ͜: AHRS rotation from veh to nav: [[0.138943,0.975035,0.173209],[-0.989242,0.128571,0.069786],[0.045774,-0.181042,0.982410]]H?|3?+?ާu?@wݱ?o?``,ǿ@o?i3H@IDz^;mCYByI  )iMb@Mb@Mb@ 9jt?L7A`堿y&1|Y?y+`AK@  A)?AYAbDVD:2y]%=ٔ.Q->9!Y!=%gFy%D%E->)Q 554- ?Q 9=4-B)-[BY=?Q E=:y=ǿQ I}?-xDI-(iƿ>LB/@%K>^/@ z0a>)'@Iz0a0?E!?gɳr6? $?)tKI5iz0achecking for new query: numPingsReceived=89, elapsed TxPingTime=44.110252AIIO?G, e?Aɰ;=;@=6@=|=ٱ=< AHRS rotation from veh to nav: [[0.137454,0.974879,0.175265],[-0.989433,0.126894,0.070148],[0.046146,-0.183055,0.982019]]=H ? 52? o?n>?9?i?Xnǿ`l?i=;@I=u^;9YByIbDVD0y4%&=ٔOFQ->9Y=gFyDWKE>Q 5 4 ?Q 9 4)[BY)y-Q I5?DI;iX;~4y9ɮ=A9iie?AJiJeARiJeAjiA@bٕ6+@^5@ETR @RJa?[qp|r'$?Zi5biz0aj0?k?Y;+v+@Z?+Da?M~?2i[:iYK?"i N?*iWBi BiK?ikjViBi.[Ai@- addTargetRange:: Added new target pos. range: 14.400000 m, deltaT: 0.505335 s, deltaX: -0.300000 m, approachRate: -0.593666 m/s, rangeRepo size: 4 = Added new target pos. range: 14.330650 m, bearing: 273.310747 deg, lat: 36.779375 deg, lon: -121.859573 deg, deltaT: 0.505335 s, deltaX: -0.298555 m, approachRate: -0.590807 m/s, posRepo size: 4 jh9=DNOT Ignoring new targets: 14.33 m.bh9RhAZh ProNav: ac range: 14.330650 m, nav range: 13.698955 m, bearing: 273.211817 deg, approach rate: 0.000000 m/s, LOS rate: -0.119703 deg/s, cmd heading: 274.294605 deg, new cmd heading: 274.132959 deg. BhHeadingCmd: 4.784523 target range: 14.330650 and range: 14.40 m.h@h*h"h hgfffd d d jd ,@Zd@?A},Bɢ,) `i)l顉ii.Կ#y<Ԏ=I@I5@@9 @9@=/@9checking for new query: numPingsReceived=89, elapsed TxPingTime=44.342239iAAAAB >BBIB8BB =BBB:v;Br0EE! EE+E"EY;*E]:VE [4ZEBE֬VN,O$ٱb>@ jAHRS rotation from veh to nav: [[0.135733,0.974496,0.178701],[-0.989654,0.124895,0.070612],[0.046492,-0.186436,0.981366]]bH_?`/? ?> &??@ͧ?%ǿZg?ib-@Ib0q^;EDDAT read: Rx Time:04:14:11.6438 ETRx dataTimestamp_ set to:1761538452.980705UPDAT read: Bearing 96.7, -7.7 (Local) U~Local bearing/azimuth received: Bearing 96.7, -7.7 (Local) eDAT read: Range 11 to 50 : 14.1 m (trip time 9.4 ms) speed 0.4 DAT read: 04:14:11.6438 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 503,-0.01,-1.503,-3.128,-1.093,-1.438, PHS= 0.037,-1.645, 0.301, RAW= 157.2, 14.2, CAL= 157.8, 16.2, ROT= 352.2, -16.2 Ygot valid direction response: 04:14:11.6438 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 503,-0.01,-1.503,-3.128,-1.093,-1.438, PHS= 0.037,-1.645, 0.301, RAW= 157.2, 14.2, CAL= 157.8, 16.2, ROT= 352.2, -16.2 T#Rx 90: Read range and direction messages.^direction in FSK: [0.951409,-0.130327,0.278991]Fpublishing direction and range infoyAE q?E/@E}>EC0@ EÐ>)E@IEÐAAEJ/?Ks;?4mA]? E1#&?)E~}IEg iEÐAAchecking for new query: numPingsReceived=90, elapsed TxPingTime=44.609947bnCYByIiMb@Mb@Mb@ 9K7?kt:vYI ?y 0T`A5@ A)AY3AbDVDy-߼%-!=ٔ-3Q-->91Y1=5gFy5D5aaE=>9Q 5m4=c ?Q 9m4=)=[BYm ?Q Em:ym¿Q Im?=DI=};i=:=4y}kBɮ}A}EiAiE>e?AJiE`ARiE`AjiEk@bE͑G*@ B0FQ@RE q?V,k[e?AB@Bi@B@ٱBRA NAHRS rotation from veh to nav: [[0.133426,0.974546,0.180159],[-0.989942,0.122426,0.070904],[0.047043,-0.187808,0.981079]]BH ?@{/?v? WW?@&?? ȿd?iB@IBe^;BpCYVByVIIj=)j<bDrVDrNy.%U=ٔOQ->9Y=gFy D%ĻE%>)Q 5U4-T ?Q 9U4-)-[BYQyUU¿Q IU?-DI-;i-%;-u4yaɮe AaԑB*** querying acoustic contact ***i iDDAT read: Rx Time:04:14:12.1437 TRx dataTimestamp_ set to:1761538453.484795PDAT read: Bearing 96.7, -7.6 (Local) ~Local bearing/azimuth received: Bearing 96.7, -7.6 (Local) DAT read: Range 11 to 50 : 14.0 m (trip time 9.3 ms) speed 0.4 DAT read: 04:14:12.1437 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 502, 0.43, 1.029,-0.604, 1.431, 1.094, PHS= 0.037,-1.654, 0.293, RAW= 157.0, 14.3, CAL= 157.5, 16.4, ROT= 352.5, -16.4  Ygot valid direction response: 04:14:12.1437 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 502, 0.43, 1.029,-0.604, 1.431, 1.094, PHS= 0.037,-1.654, 0.293, RAW= 157.0, 14.3, CAL= 157.5, 16.4, ROT= 352.5, -16.4  T#Rx 91: Read range and direction messages.^direction in FSK: [0.951107,-0.125216,0.282341]Fpublishing direction and range infoywo?wIx?Y`A ):IiFӿ>^/@r>/@ C>)@ICws?q* ?n2? %?)x I iCUchecking for new query: numPingsReceived=91, elapsed TxPingTime=45.117599e addTargetRange:: Added new target pos. range: 14.000000 m, deltaT: 0.504090 s, deltaX: -0.100000 m, approachRate: -0.198378 m/s, rangeRepo size: 4 jhaDNOT Ignoring new targets: 14.03 m.bhRh8Zh8 ProNav: ac range: 14.031984 m, nav range: 13.095666 m, bearing: 273.144517 deg, approach rate: -0.534927 m/s, LOS rate: 0.005409 deg/s, cmd heading: 273.952932 deg, new cmd heading: 273.959389 deg. Bhm9HeadingCmd: 4.781493 target range: 14.031984 and range: 14.00 m.h@h*h"h hgfffdddjd,@Zd]?9ɢ=/)a e ia)e^Giiim\imt7u}y\,4ue?AYBy%IbDe VDe2yu!%C=ٔQ->9 ?Y ?=gFyDE>!Q 54%c?Q 94%)%[BYyQ I?%DI%kLB/@> V>)IVgS?1?"mZ ?  %?)́IiV}checking for new query: numPingsReceived=92, elapsed TxPingTime=45.623936Rhe8Zh}8 ProNav: ac range: 14.031984 m, nav range: 12.856599 m, bearing: 273.146980 deg, approach rate: -0.518105 m/s, LOS rate: 0.005436 deg/s, cmd heading: 273.959379 deg, new cmd heading: 273.966904 deg. Bhn9HeadingCmd: 4.781624 target range: 14.031984 and range: 14.00 m.h@h*h"h hgff!f!d!d!d!jd-`ff+@Zd-쁦?颕-Bɢ,) i)项ii'3<=I@IQmF@q @q@q@qy  checking for new query: numPingsReceived=92, elapsed TxPingTime=45.854340^A 8=Em EmEm)Ei"EmL;*EmZ:VEmFA4ZEia@a@a@ԩa@A؟AIIO >5d,۾e?AB@B@BMHٱB{B jAHRS rotation from veh to nav: [[0.127864,0.975121,0.181079],[-0.990583,0.116551,0.071838],[0.048945,-0.188560,0.980841]]BH`]? 14?@-?۲Oֽ?c? Y? "ȿ` c?iB@IB ^;BmCYrByrIiMb@Mb@Mb@ 9^I +?L7A`堿{GzYX?y+#IA@ )YA 15bD5VD5ܲyE ;%M=ٔMZdQ-M>9U"?YU"?=UgFyUDU)EU>YQ 54]M?Q 94]3 )][BY?Q E:yQ I?]DI];i]_;]`4ymBɮ8AiIiMbKe?AJiM$ZARiM$ZAjiMP@bM*7e)@v_Is)@RMljg?Ȭ^WԷH?ZiIbiMVjM!y[? r)W@ZMv-^/@->-'0@ -r>)-@I-r))-\Ğ#?9~ʬ?V"? -%?)-瀾I- i-r))checking for new query: numPingsReceived=93, elapsed TxPingTime=46.121826djd+@Zd7k?.BɢD.) i)j iͦi%.%݀<%=I%9@I)A@ @@@! ^A m=Q  checking for new query: numPingsReceived=93, elapsed TxPingTime=46.358391B A <B >B CB IB BB =B B B v;B X0EI9IiE2 EE'E"Ei;*E:VE'4ZEBE(9Y=gFy&DoE>Q 5%4?Q 9-4[)[BYYy]Q Ie?DI?(mxnX֚n?Y-QA)))) ))-9I-#y=i-ӿ-M>-%/@-Gt>-/@ -c>)-@I-c))-18L?UM? >? -$?)-9?tI-twi-c))checking for new query: numPingsReceived=94, elapsed TxPingTime=46.625889fdddjd@33*@Zd`?ɢj.) i)%4 !!i%Pi-)-<-E?i=I-c@I)]N>i]>ԁ@ @@/@ԡ ^A |= checking for new query: numPingsReceived=94, elapsed TxPingTime=46.861805 IiIE$ EE*E"Eg\;*E:VE(N4ZEa@a@a@a@O>t,ze?A|YUByUIiMb@Mb@Mb@ 9Cl? rhMbpY;?yC A@ )AYA  bDVDNy%<%%=ٔ-Q-->9)Y)=5gFy51D5E5>9Q 5E4=?Q 9E4=)=[BYmy?Q Em:ymQ Im?=DI=;i=;=4yqɮuAqii:Ϳe?AJiPARiPAjiCV@b(@jG @R&>?(mxnX֚n?ZitwbicjhC?M"͋(m@ZK8?Zl \c?2i^D:i_?"if~E?*i\BiBi I?iYiiBAiJ}@!- addTargetRange:: Added new target pos. range: 13.100000 m, deltaT: 0.504138 s, deltaX: -0.400000 m, approachRate: -0.793433 m/s, rangeRepo size: 4 = Added new target pos. range: 13.036744 m, bearing: 272.758288 deg, lat: 36.779374 deg, lon: -121.859574 deg, deltaT: 0.504138 s, deltaX: -0.398068 m, approachRate: -0.789602 m/s, posRepo size: 4 jh9=DNOT Ignoring new targets: 13.04 m.bh9RhaZhau ProNav: ac range: 13.036744 m, nav range: 12.162782 m, bearing: 273.031243 deg, approach rate: 0.000000 m/s, LOS rate: 0.005436 deg/s, cmd heading: 273.983121 deg, new cmd heading: 273.991092 deg. Bhq}HeadingCmd: 4.782047 target range: 13.036744 and range: 13.10 m.h}@hy*hy"h hgfff.BdddjdZdy?ɢ-) i!)% !!i%i-P%-<-+l=I-@I1DDAT read: Rx Time:04:14:14.1430 TRx dataTimestamp_ set to:1761538455.500913PDAT read: Bearing 97.3, -7.6 (Local) ~Local bearing/azimuth received: Bearing 97.3, -7.6 (Local) DAT read: Range 11 to 50 : 12.9 m (trip time 8.6 ms) speed 0.5 DAT read: 04:14:14.1430 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 511, 0.19, 3.099, 1.463,-2.790,-3.094, PHS= 0.011,-1.682, 0.260, RAW= 156.8, 15.2, CAL= 157.5, 17.6, ROT= 352.5, -17.6 Ygot valid direction response: 04:14:14.1430 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 511, 0.19, 3.099, 1.463,-2.790,-3.094, PHS= 0.011,-1.682, 0.260, RAW= 156.8, 15.2, CAL= 157.5, 17.6, ROT= 352.5, -17.6 T#Rx 95: Read range and direction messages.@@ @@/@^direction in FSK: [0.945036,-0.124416,0.302370]Fpublishing direction and range infoy> =?ٿ-JZ?YfNA )IX94ԇ>/@ nF>)@InF%/?+Oz?K? F$?)>I inFchecking for new query: numPingsReceived=95, elapsed TxPingTime=47.189079IIO>y b {,Ne?A2~@2Py@2mXYٱ2i D >AHRS rotation from veh to nav: [[0.114505,0.976413,0.183049],[-0.992006,0.102547,0.073544],[0.053038,-0.190007,0.980349]]2H:P?>?(n?@?Ӳ?@'?&Rȿ_?i2~@I2P^;2jCYNByRIbDZVDZ yb<%f{=ٔf̼Q-f ?9dYh=jgFyj7DjɭEj ?rchecking for new query: numPingsReceived=95, elapsed TxPingTime=47.365547YB >BBBB =BBBv;BU0E)Q 5m4-?Q 94-$ )-[BYyaQ I?E E-EE"EV;*EK;VEZEBE =?ٿ-JZ?Zi binFjA`.DI?|r䧭'ɠIv@Z2PZT?i=012 4?2i>:iJ ?"iaXB?*i~YBipBif~E?iipBi>AiX@ addTargetRange:: Added new target pos. range: 12.900000 m, deltaT: 0.504012 s, deltaX: -0.200001 m, approachRate: -0.396817 m/s, rangeRepo size: 4  Added new target pos. range: 12.837721 m, bearing: 272.596198 deg, lat: 36.779374 deg, lon: -121.859574 deg, deltaT: 0.504012 s, deltaX: -0.199023 m, approachRate: -0.394878 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 12.84 m.bhRhZh5 ProNav: ac range: 12.837721 m, nav range: 11.930792 m, bearing: 272.774683 deg, approach rate: 0.000000 m/s, LOS rate: 0.005436 deg/s, cmd heading: 273.991099 deg, new cmd heading: 273.997482 deg. Bh15HeadingCmd: 4.782158 target range: 12.837721 and range: 12.90 m.h=q@h9*h9"h9 h9g9f9ԁffdddjd)@Zd4?M/BɢUj/) di). 顉ii!!<Q=Iq@I@ @@/@DDAT read: Rx Time:04:14:14.6427 TRx dataTimestamp_ set to:1761538456.005902PDAT read: Bearing 96.7, -7.6 (Local) ~Local bearing/azimuth received: Bearing 96.7, -7.6 (Local) DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed 0.6 DAT read: 04:14:14.6427 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 508, 0.14, 2.530, 0.884, 2.933, 2.611, PHS= 0.021,-1.682, 0.278, RAW= 156.9, 14.8, CAL= 157.6, 17.1, ROT= 352.4, -17.1 Ygot valid direction response: 04:14:14.6427 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 508, 0.14, 2.530, 0.884, 2.933, 2.611, PHS= 0.021,-1.682, 0.278, RAW= 156.9, 14.8, CAL= 157.6, 17.1, ROT= 352.4, -17.1 T#Rx 96: Read range and direction messages. ^direction in FSK: [0.947397,-0.126410,0.294040] Fpublishing direction and range infoyXLQ?n*1.?YHA );I1LB/@ A>x 0@ Θ>):@IΘ8%? )߭?dtDe? $?)IiΘE checking for new query: numPingsReceived=96, elapsed TxPingTime=47.639896 ^A h=I I) O= >,kf?AYEByMIQUAiUMb@Mb@Mb@QQQQ Q9Ujt?Q롿~jtx?YU ?yU\U;UAU@ U A)UtAQYU=AbDVDyw=%1=ٔQ->9Y=gFyADE>Q 544?Q 94')\BY!?Q E:y"Q I?DI:i;4y ɮ IAii`f?AJiGARiGAji!@b3k)K'@O5(j6iC @RXLQ?n*1.?ZibiΘjYz?2^S*'Nх @Zl3?j~T3?2iU9:i>"i>?*ikWBiBiaXB?iiWBi:Ai;@ addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.504989 s, deltaX: -0.400000 m, approachRate: -0.792096 m/s, rangeRepo size: 4  checking for new query: numPingsReceived=96, elapsed TxPingTime=47.869701 Added new target pos. range: 12.439652 m, bearing: 272.390832 deg, lat: 36.779374 deg, lon: -121.859574 deg, deltaT: 0.504989 s, deltaX: -0.398068 m, approachRate: -0.788271 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 12.44 m.bhRhZhu ProNav: ac range: 12.439652 m, nav range: 11.664165 m, bearing: 272.573848 deg, approach rate: 0.000000 m/s, LOS rate: 0.005436 deg/s, cmd heading: 273.997492 deg, new cmd heading: 274.004010 deg. E! EE&E"EY;*E&:VE4ZEa@a@a@a@BhqHeadingCmd: 4.782272 target range: 12.439652 and range: 12.50 m.h`@h*h"h h!g!f!f!f-$Bd)d)d)jd-)@Zd5?颙ɢ() i)T 顡iiƃ<hU=I`@I9q@y @y@}/@y^AE N=I I O >Q  DDAT read: Rx Time:04:14:15.1425  TRx dataTimestamp_ set to:1761538456.508936 PDAT read: Bearing 96.1, -7.1 (Local)  ~Local bearing/azimuth received: Bearing 96.1, -7.1 (Local)  DAT read: Range 11 to 50 : 12.3 m (trip time 8.2 ms) speed 0.7  DAT read: 04:14:15.1425 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 506, 0.04, 2.817, 1.154,-3.075, 2.879, PHS= 0.040,-1.680, 0.285, RAW= 156.6, 14.5, CAL= 157.2, 16.6, ROT= 352.8, -16.6  Ygot valid direction response: 04:14:15.1425 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 506, 0.04, 2.817, 1.154,-3.075, 2.879, PHS= 0.040,-1.680, 0.285, RAW= 156.6, 14.5, CAL= 157.2, 16.6, ROT= 352.8, -16.6  T#Rx 97: Read range and direction messages. ^direction in FSK: [0.950766,-0.120110,0.285688] Fpublishing direction and range infoy  #(l?ZRwWԷH?Y DA ) :I #=i = ׿ > .@ > /@ V>) j @I V (C=?#u?ׄ? bd#?) kI i V = checking for new query: numPingsReceived=97, elapsed TxPingTime=48.138416 ,!f?AYnBynI vp9)Y)=-gFy-ID1E5>1yQ 5}4}|?Q 94}-)}\BYyQ I?}!DI}:i}R:}\Ū4yɮAiih f?AJiCARiCAjiUL@b؜F'@`w4#0C @R#(l?ZRwWԷH?ZibiVjI0?5]&<֣L@Z*i9x?4U02֜?2i7:i ?"iD?*ihfZBiBiihfZiBi27Ai7@ addTargetRange:: Added new target pos. range: 12.300000 m, deltaT: 0.503034 s, deltaX: -0.200000 m, approachRate: -0.397587 m/s, rangeRepo size: 4  Added new target pos. range: 12.240619 m, bearing: 272.688831 deg, lat: 36.779374 deg, lon: -121.859575 deg, deltaT: 0.503034 s, deltaX: -0.199034 m, approachRate: -0.395667 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 12.24 m.bhRh Zh  ProNav: ac range: 12.240619 m, nav range: 11.449811 m, bearing: 272.545977 deg, approach rate: 0.000000 m/s, LOS rate: 0.005436 deg/s, cmd heading: 274.004021 deg, new cmd heading: 274.010593 deg. Bh%HeadingCmd: 4.782387 target range: 12.240619 and range: 12.30 m.h%Q @h!*h!"h! hAgIfIfIfIdQdQdQjdU(@ZdU|?颡ɢM%) i%G<DU=IQ @IaB@ @@-0@=checking for new query: numPingsReceived=97, elapsed TxPingTime=48.375916AAB>BBIB)BB =BBDBu;BL0EBCBCBԑB =B =C85bEc44jEA84rE- 0E# EE'E"E[;*E:VE'4ZEBEg ,?=f?AuDDAT read: Rx Time:04:14:15.6422 }TRx dataTimestamp_ set to:1761538457.012834PDAT read: Bearing 95.7, -7.2 (Local) ԉ~Local bearing/azimuth received: Bearing 95.7, -7.2 (Local) DAT read: Range 11 to 50 : 11.9 m (trip time 7.9 ms) speed 0.6 DAT read: 04:14:15.6422 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 503,-0.05,-0.087,-1.753, 0.313,-0.026, PHS= 0.041,-1.682, 0.295, RAW= 156.8, 14.3, CAL= 157.4, 16.4, ROT= 352.6, -16.4 YByIYgot valid direction response: 04:14:15.6422 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 503,-0.05,-0.087,-1.753, 0.313,-0.026, PHS= 0.041,-1.682, 0.295, RAW= 156.8, 14.3, CAL= 157.4, 16.4, ROT= 352.6, -16.4 T#Rx 98: Read range and direction messages.^direction in FSK: [0.951324,-0.123555,0.282341]Fpublishing direction and range infoyquw ?q?H'NIx?Yuf>Aqqqq q)qIu'=iuK׿u= >u%/@ur>uF/@ uC>)u@IuCqqu?6i?r? uV$?)ui Iu@iuCqqUchecking for new query: numPingsReceived=98, elapsed TxPingTime=48.654503iMb@Mb@Mb@ 9 +?S㥛9aYa=egFymRDiEm>qQ 54u>?Q 94u4)u4\BY?Q E:ybQ I?u3DIu;iu9;uͪ4yBɮAEiqiuF@f?AJiuz=ARiuz=Ajiu)@bu+s/4&@?uBiE @Ruw ?q?H'NIx?Ziu@biuCju_K?FO&)&d$@Zu^ew?>!SJr?2iuH1:iu_>"iuJ"A?*iu7XBiuaBiqiu~YiuBiu:2Aiu2@] addTargetRange:: Added new target pos. range: 11.900000 m, deltaT: 0.503898 s, deltaX: -0.400001 m, approachRate: -0.793813 m/s, rangeRepo size: 4 m Added new target pos. range: 11.842472 m, bearing: 272.446404 deg, lat: 36.779374 deg, lon: -121.859574 deg, deltaT: 0.503898 s, deltaX: -0.398147 m, approachRate: -0.790133 m/s, posRepo size: 4 jhiuDNOT Ignoring new targets: 11.84 m.bhqRhZh ProNav: ac range: 11.842472 m, nav range: 11.139362 m, bearing: 272.509540 deg, approach rate: 0.000000 m/s, LOS rate: 0.005436 deg/s, cmd heading: 274.010606 deg, new cmd heading: 274.018084 deg. BhHeadingCmd: 4.782518 target range: 11.842472 and range: 11.90 m.hc @Աh*h"h hgfff"Bdddjd'@Zd:Ǽ?IɢUb)UU1 U_iQ)Uq YYi]ui]e[,&Xf?A @ R@ Giٱ F =AHRS rotation from veh to nav: [[0.100184,0.977402,0.186139],[-0.993339,0.087552,0.074912],[0.056922,-0.192405,0.979663]] H`? F?`j?oi?k-? $?ȿ gY?i @I ^; lCIYm'BymI qqbDVDfy=%[=ٔ,Q->9Y=gFyZD E>Q 5 4\?Q 94w:)I\BYy7Q I?ADI:iF:Ԫ4yɮ%YA!]B*** querying acoustic contact ***iY iYjhDNOT Ignoring new targets: 11.84 m.bhRh{Zh{ ProNav: ac range: 11.842472 m, nav range: 10.922932 m, bearing: 272.489675 deg, approach rate: -0.586338 m/s, LOS rate: -0.054883 deg/s, cmd heading: 274.018092 deg, new cmd heading: 273.957316 deg. BhHeadingCmd: 4.781457 target range: 11.842472 and range: 11.90 m.h@h*h"h hgfffdddjdZd#?颅.BɢB) si) 顉ii8S<N"=I@iIADDAT read: Rx Time:04:14:16.1421 TRx dataTimestamp_ set to:1761538457.517234PDAT read: Bearing 96.8, -7.5 (Local) ~Local bearing/azimuth received: Bearing 96.8, -7.5 (Local) DAT read: Range 11 to 50 : 11.7 m (trip time 7.8 ms) speed 0.6 5DAT read: 04:14:16.1421 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 502,-0.21, 1.084,-0.575, 1.481, 1.176, PHS= 0.010,-1.706, 0.261, RAW= 156.7, 15.3, CAL= 157.5, 17.6, ROT= 352.5, -17.6 =Ygot valid direction response: 04:14:16.1421 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 502,-0.21, 1.084,-0.575, 1.481, 1.176, PHS= 0.010,-1.706, 0.261, RAW= 156.7, 15.3, CAL= 157.5, 17.6, ROT= 352.5, -17.6 ET#Rx 99: Read range and direction messages.M^direction in FSK: [0.945036,-0.124416,0.302370]MFpublishing direction and range infoy> =?ٿ-JZ?Y3;A )I # /@ܸ>/@ nF>)@InFYR?ŵ3u?-C? $?)I inFechecking for new query: numPingsReceived=99, elapsed TxPingTime=49.146175yIIgA)H@ @@4@ԡ PExceeded connect timeout, disconnecting.^A ]U= I I) O5 >BM >BI BM IBM GBBI BI BI BM u;BM E0E checking for new query: numPingsReceived=99, elapsed TxPingTime=49.399994B,lsf?A <<Eb EbEb*E`"EbP;*Ebx:VEb(N4ZE`BEb9Y=gFydD ɻE>Q 5E4?Q 9M4B)i\BYIyUQ IU?UDIV =?ٿ-JZ?Zi binFjq?n% r@Zx*ZA?B'E=9E?2i,:i>"i5?*i^%DDAT read: Rx Time:04:14:16.6417 %TRx dataTimestamp_ set to:1761538458.036816-PDAT read: Bearing 95.9, -7.1 (Local) 5~Local bearing/azimuth received: Bearing 95.9, -7.1 (Local) EDAT read: Range 11 to 50 : 11.1 m (trip time 7.4 ms) speed 0.6 eDAT read: 04:14:16.6417 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 499,-0.44, 0.772,-0.902, 1.164, 0.842, PHS= 0.032,-1.699, 0.279, RAW= 156.6, 14.7, CAL= 157.2, 16.9, ROT= 352.8, -16.9 uYgot valid direction response: 04:14:16.6417 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 499,-0.44, 0.772,-0.902, 1.164, 0.842, PHS= 0.032,-1.699, 0.279, RAW= 156.6, 14.7, CAL= 157.2, 16.9, ROT= 352.8, -16.9 uV#Rx 100: Read range and direction messages.}^direction in FSK: [0.949269,-0.119921,0.290702]}Fpublishing direction and range infoy!%nh`?2kn"Tcݚ?Y%1A!!!! !)%9ԱI%o=i%xٿ%َ>%.@%G\>%/@ %>)%j @I%!!%8OA?IKuzq?-00iE? %p#?)%!I%i%!!checking for new query: numPingsReceived=100, elapsed TxPingTime=49.671429BiBiJ"A?iiBi)Ai,!@ addTargetRange:: Added new target pos. range: 11.100000 m, deltaT: 1.023982 s, deltaX: -0.799999 m, approachRate: -0.781263 m/s, rangeRepo size: 4 U Added new target pos. range: 11.643427 m, bearing: 271.633693 deg, lat: 36.779374 deg, lon: -121.859574 deg, deltaT: 0.504400 s, deltaX: -0.199045 m, approachRate: -0.394618 m/s, posRepo size: 4 jhY]DNOT Ignoring new targets: 11.64 m.bhYRh]Zha ProNav: ac range: 11.643427 m, nav range: 10.601918 m, bearing: 272.386969 deg, approach rate: 0.000000 m/s, LOS rate: -0.054883 deg/s, cmd heading: 273.957303 deg, new cmd heading: 273.860302 deg. BhHeadingCmd: 4.779764 target range: 11.643427 and range: 11.10 m.h@h*h"h hgfffdddjd@33&@ZdH? ɢ X)  V,wf?ARӒ@R{Ι@RnٱRG jAHRS rotation from veh to nav: [[0.093768,0.977713,0.187842],[-0.993888,0.080885,0.075128],[0.058260,-0.193738,0.979322]]RH@,? mI?3 ?@崴?@;?Bԭ?@kȿV?iRӒ@IRڳ^;RmCYrXByrIDDAT read: Rx Time:04:14:17.1416 TRx dataTimestamp_ set to:1761538458.293672PDAT read: Bearing 95.8, -6.2 (Local) ~Local bearing/azimuth received: Bearing 95.8, -6.2 (Local) EDAT read: Range 11 to 50 : 11.0 m (trip time 7.3 ms) speed 0.5 iMb@Mb@Mb@ 9ʡE? rh rh?Y-?yCC<A@ A)AYAbDVD1y^>%W=ֺٔQ->9Y=gFylDE/ EEE"Eaf;*E]:VEZEa@a@a@a@DAT read: 04:14:17.1416 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 497, 0.43, 2.312, 0.613, 2.672, 2.362, PHS= 0.051,-1.705, 0.265, RAW= 155.7, 14.7, CAL= 156.2, 16.8, ROT= 353.8, -16.8  Ygot valid direction response: 04:14:17.1416 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 497, 0.43, 2.312, 0.613, 2.672, 2.362, PHS= 0.051,-1.705, 0.265, RAW= 155.7, 14.7, CAL= 156.2, 16.8, ROT= 353.8, -16.8 V#Rx 101: Read range and direction messages.^direction in FSK: [0.951720,-0.103390,0.289032]Fpublishing direction and range infoyCE%>)Q 5-4-?Q 954-H)-{\BY5N?Q E5:y5Q I5?-bDI-v:i-':-4}t?,ew\.?Y0A )7I`P=iq=ڿ>'-@!z.@ Q >)e@IQ m$?]E5 ?"i[BD?*iGTBi1Bii7XiBi%Ai@@ addTargetRange:: Added new target pos. range: 11.000000 m, deltaT: 0.256856 s, deltaX: -0.100000 m, approachRate: -0.389325 m/s, rangeRepo size: 4 E Added new target pos. range: 10.946812 m, bearing: 272.606163 deg, lat: 36.779374 deg, lon: -121.859574 deg, deltaT: 0.776438 s, deltaX: -0.696615 m, approachRate: -0.897194 m/s, posRepo size: 4 jhAMDNOT Ignoring new targets: 10.95 m.bhIRhQZhQ ProNav: ac range: 10.946812 m, nav range: 10.355597 m, bearing: 272.366531 deg, approach rate: 0.000000 m/s, LOS rate: -0.054883 deg/s, cmd heading: 273.860314 deg, new cmd heading: 273.809522 deg. BhHeadingCmd: 4.778878 target range: 10.946812 and range: 11.00 m.h@h*h"h hg f f1f=qBd9d9dAjdE&@ZdE袽?ɢ{V) =i)s i'i%5<[5=I@I)E checking for new query: numPingsReceived=101, elapsed TxPingTime=50.153660Q ] rg A@  @ @ 0@ ԁnManaging dock network, ignoring radio surface power off^AA%>A%>ԱIIDDAT read: Rx Time:04:14:17.6414 %TRx dataTimestamp_ set to:1761538458.797345]PDAT read: Bearing 96.4, -6.2 (Local) e~Local bearing/azimuth received: Bearing 96.4, -6.2 (Local) DAT read: Range 11 to 50 : 10.5 m (trip time 7.0 ms) speed 0.5 BBB@IBzBBBBB v;BU0E\#Rx 102: Read range message, but no direction.yY(Achecking for new query: numPingsReceived=102, elapsed TxPingTime=50.437511O?噬,bڴf?AE*" E*'E*'E("E*Z;*E*";VE*'4ZE(BE*9Y=%gFy%wD-+E->9Q 5e4=?Q 9m4=gP)=\BYiymQ Iu?=vDI= ;i=;=a4yBɮA!E addTargetRange:: Added new target pos. range: 10.500000 m, deltaT: 0.503673 s, deltaX: -0.500000 m, approachRate: -0.992708 m/s, rangeRepo size: 4 jh%DNOT Ignoring new targets: 10.95 m.bh!Rh5Zh]m ProNav: ac range: 10.946812 m, nav range: 10.038213 m, bearing: 272.324171 deg, approach rate: -0.574991 m/s, LOS rate: -0.079168 deg/s, cmd heading: 273.809525 deg, new cmd heading: 273.678428 deg. BhmTYmHeadingCmd: 4.776590 target range: 10.946812 and range: 10.50 m.hu٘@hq*hq"hq hqgfffdddjd%@Zd?颱ɢlؼ) ~>i) i4i  ˪< Ĺ=I ٘@IDAT read: 04:14:17.6414 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 510, 0.33, 0.887,-0.813, 1.240, 0.955, PHS= 0.034,-1.723, 0.241, RAW= 155.5, 15.3, CAL= 156.2, 17.5, ROT= 353.8, -17.5 Ygot valid direction response: 04:14:17.6414 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 510, 0.33, 0.887,-0.813, 1.240, 0.955, PHS= 0.034,-1.723, 0.241, RAW= 155.5, 15.3, CAL= 156.2, 17.5, ROT= 353.8, -17.5 \#Rx 103: Read direction message, but no range.^direction in FSK: [0.948139,-0.103001,0.300706]y'j&W?@=B^->? )IC =iDܿv>-@ܸ> a>)Ia5 ? ?̘? С?)Iia checking for new query: numPingsReceived=103, elapsed TxPingTime=50.6698079- ԉ @  @ @ /@ @ =@ =DDAT read: Rx Time:04:14:18.1413 TRx dataTimestamp_ set to:1761538459.305309PDAT read: Bearing 94.3, -5.3 (Local) ~Local bearing/azimuth received: Bearing 94.3, -5.3 (Local)  DAT read: Range 11 to 50 : 10.4 m (trip time 6.9 ms) speed 0.5 5DAT read: 04:14:18.1413 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 509, 0.42, 1.624,-0.099, 1.966, 1.631, PHS= 0.096,-1.685, 0.292, RAW= 155.2, 13.7, CAL= 155.5, 15.4, ROT= 354.5, -15.4 =Ygot valid direction response: 04:14:18.1413 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 509, 0.42, 1.624,-0.099, 1.966, 1.631, PHS= 0.096,-1.685, 0.292, RAW= 155.2, 13.7, CAL= 155.5, 15.4, ROT= 354.5, -15.4 EV#Rx 104: Read range and direction messages.M^direction in FSK: [0.959657,-0.092405,0.265556]MFpublishing direction and range infoE* E!EE"Ea;*E:VEZEa@a@a@a@ypW?Иk1է<?Yf&A )I=i׿>-\-@Gt>-@ >)z@I^nO{k?}6?HT;? ?)>'t^A-{0=I)Ľimchecking for new query: numPingsReceived=104, elapsed TxPingTime=50.976913 AIIO?Vֶ,qf?ABґ@B@BtٱBF ZAHRS rotation from veh to nav: [[0.085769,0.978597,0.187063],[-0.994523,0.072837,0.074954],[0.059724,-0.192467,0.979484]]BH`?P??"@v?+0?0?âȿ`W?iBґ@IB^;@YbBybGIiMb@Mb@Mb@ 9uV?I +{Gz?Yr?y94ף<A@ lA)pAYGAbD%VD%k)yUgI=%U<ٔ]GQ-]>9YYY=]gFyeDedEe>iQ 5u4m ?Q 9u4m)Y)m\BY}?Q E}:y}Q I}?mDImU:im]:m_4yɮ)A-checking for new query: numPingsReceived=104, elapsed TxPingTime=51.165573i)i-/f?AJi-%ARi-%Aji-[5@b-tɞF#@q@R-pW?Иk1է<?Zi-)Ľbi-j-(Ȋ?4P{#Rt# @Z-j;X G??f t?2i-:i-7>"i-< E?*i-acYBi-pBi-[BD?i-acYi-aBi-Ai-,@ addTargetRange:: Added new target pos. range: 10.400000 m, deltaT: 0.507964 s, deltaX: -0.100000 m, approachRate: -0.196865 m/s, rangeRepo size: 4  Added new target pos. range: 10.349719 m, bearing: 272.528121 deg, lat: 36.779374 deg, lon: -121.859574 deg, deltaT: 1.011637 s, deltaX: -0.597093 m, approachRate: -0.590224 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 10.35 m.bhRhZh  ProNav: ac range: 10.349719 m, nav range: 9.750480 m, bearing: 272.467669 deg, approach rate: 0.000000 m/s, LOS rate: -0.079168 deg/s, cmd heading: 273.678440 deg, new cmd heading: 273.526415 deg. Bh HeadingCmd: 4.773937 target range: 10.349719 and range: 10.40 m.hĘ@h*h"h hgffafeBdadadajdm$@Zdm p]?ɢɼ) #>i){ ii/S%<=IĘ@I  YԉA @I  @I @Q @Q  DDAT read: Rx Time:04:14:18.6410  TRx dataTimestamp_ set to:1761538459.808667- PDAT read: Bearing 93.4, -4.0 (Local) = ~Local bearing/azimuth received: Bearing 93.4, -4.0 (Local) M DAT read: Range 11 to 50 : 9.9 m (trip time 6.6 ms) speed 0.4 M \#Rx 105: Read range message, but no direction.y Y fA B] >BY B] IB] BBY BY B] DBY B] V0E} checking for new query: numPingsReceived=105, elapsed TxPingTime=51.437077Ա E ( E E E "E `;*E :VE ZE BE RiNӿNu>N9>,@Nf>N,@ N>)Nu@INLNkI)5?h|)?Ƞ? N??)NfINi٠iNvchecking for new query: numPingsReceived=106, elapsed TxPingTime=51.679321YMByMsIAimMb@Mb@Mb@iiii i9m ףp= ?~jtMb?YmQ>ymDm9Y=gFyDE>Q 54"?Q 94@a)\BY>Q E:y%ZQ I%?DI;i;4y-Bɮ-A)ii3f?AJiARiAjiɦ@b^I#@gT0@Rm,?pk^Xtl?Zii٠bij$h9OT?ă3"8)@Z <%?3~OIp7?2iO:i ?"iLIP?*i឵VBi݇Bii7Xi1Bi]Ai'@ addTargetRange:: Added new target pos. range: 9.900000 m, deltaT: 0.503358 s, deltaX: -0.500000 m, approachRate: -0.993329 m/s, rangeRepo size: 4  Added new target pos. range: 9.852180 m, bearing: 273.321470 deg, lat: 36.779374 deg, lon: -121.859574 deg, deltaT: 0.503358 s, deltaX: -0.497539 m, approachRate: -0.988439 m/s, posRepo size: 4 jh9=BNOT Ignoring new targets: 9.85 m.bh9=6Short final. Range: 9.90 m.EVTransitioning guidance mode to: SHORT_FINAL:hE@@RhAZhAU ProNav: ac range: 9.852180 m, nav range: 9.397842 m, bearing: 272.432398 deg, approach rate: 0.000000 m/s, LOS rate: -0.079168 deg/s, cmd heading: 273.526427 deg, new cmd heading: 273.378035 deg. Bh|HeadingCmd: 4.771347 target range: 9.852180 and range: 9.90 m.h஘@h*h"h hgfffBdddjd#@Zd{?ɢ) %j>i!)%!!i%&Ȼi--<-f=IU஘@IQԉ B@ @@0@UDDAT read: Rx Time:04:14:19.1410 UTRx dataTimestamp_ set to:1761538460.308570]PDAT read: Bearing 92.2, -3.1 (Local) ]~Local bearing/azimuth received: Bearing 92.2, -3.1 (Local) mDAT read: Range 11 to 50 : 9.9 m (trip time 6.6 ms) speed 0.4 u\#Rx 107: Read range message, but no direction.yQYQQ}checking for new query: numPingsReceived=107, elapsed TxPingTime=51.927303E 0 E E &E "E Jg;*E :VE 4ZE a @a @a @a @ԙ ^AM = AyIIO>,!g?A2q@2l@2VLlٱ2G{G :AHRS rotation from veh to nav: [[0.081902,0.978694,0.188283],[-0.994971,0.069363,0.072257],[0.057658,-0.193254,0.979453]]2H?uQ???v? Y? ȿW?i2q@I2g^;0YbBybIbDzVDzyV>%Q=ٔ `;Q- >9 Y =gFy5D5J#E5>9Q 5E4=#?Q 9E4=6f)=\BYIyMQ IM?=DI=y:i=N:=[ 4uDAT read: 04:14:19.1410 LVL= 24976, 32753, 30194, 32755, AGC= 55, IDX= 506,-0.02,-0.479,-2.218,-0.191,-0.556, PHS= 0.179,-1.617, 0.321, RAW= 153.8, 11.9, CAL= }unknown deviceResponse_: 04:14:19.1410 LVL= 24976, 32753, 30194, 32755, AGC= 55, IDX= 506,-0.02,-0.479,-2.218,-0.191,-0.556, PHS= 0.179,-1.617, 0.321, RAW= 153.8, 11.9, CAL= }checking for new query: numPingsReceived=107, elapsed TxPingTime=52.178234ԁyɮAB*** querying acoustic contact ***i i addTargetRange:: Added new target pos. range: 9.900000 m, deltaT: 0.499903 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 jhbhzIgnoring new targets. Set target to previous: 9.85 m. 9.85 m.RhZh% ProNav: ac range: 9.852180 m, nav range: 9.208889 m, bearing: 272.406855 deg, approach rate: -0.483347 m/s, LOS rate: -0.066681 deg/s, cmd heading: 273.378048 deg, new cmd heading: 273.299846 deg. Bh% 7-|HeadingCmd: 4.769982 target range: 9.852180 and range: 9.90 m.hM@hi*hi"hi higqfqfqfqdydydyjdyZd@}?AɢM$H)I MA>iI)M5QQiU̻iU]T<]=I]@IYԡA@ @@/@^A;=- DDAT read: Rx Time:04:14:19.6407 - TRx dataTimestamp_ set to:1761538460.815944= PDAT read: Bearing 93.7, -3.5 (Local) E ~Local bearing/azimuth received: Bearing 93.7, -3.5 (Local) ] DAT read: Range 11 to 50 : 9.5 m (trip time 6.3 ms) speed 0.4 Am AAAi Bu >Bq Bu IBu ځBBq Bq Bq Bu v;Bu R0E DAT read: 04:14:19.6407 LVL= 28400, 32753, 32754, 32755, AGC= 56, IDX= 503, 0.29,-0.233,-1.987, 0.051,-0.269, PHS= 0.138,-1.673, 0.276, RAW= 153.6, 13.3, CAL= 153.9, 14.9, ROT= 356.1, -14.9  Ygot valid direction response: 04:14:19.6407 LVL= 28400, 32753, 32754, 32755, AGC= 56, IDX= 503, 0.29,-0.233,-1.987, 0.051,-0.269, PHS= 0.138,-1.673, 0.276, RAW= 153.6, 13.3, CAL= 153.9, 14.9, ROT= 356.1, -14.9  V#Rx 108: Read range and direction messages.5 ^direction in FSK: [0.964138,-0.065728,0.257133]5 Fpublishing direction and range infoy) - gof8?ӰFht?EM + EM 1EM (EI "EM b;*EM f;VEM c44ZEI BEM - +@- ,m>- o+@ - %>)- >@I- %) ) - D|v?i6V9@?z,Go? - K?)- mI- )gi- %) )  checking for new query: numPingsReceived=108, elapsed TxPingTime=52.478489 A1 II Ia Om >,':g?An@n@ni@n̿fٱnME vAHRS rotation from veh to nav: [[0.081466,0.979022,0.186762],[-0.995084,0.069309,0.070734],[0.056305,-0.191606,0.979855]]nHڴ?%T? ?@@B??Ԭ?`ȿZ?in@n@In.^;nnCYƁByIbD]VD]:ym<%mD=ٔu U;Q-u>91Y9==gFyEDE>IQ 54M$?Q 94M.l)M]BYyQ I?MDIMQg?2i]:i]?"i]tV?*i]+y\WBi]͇Bi]< E?i]+y\Wi]pBi]1Ai]/*@m addTargetRange:: Added new target pos. range: 9.500000 m, deltaT: 0.507374 s, deltaX: -0.400000 m, approachRate: -0.788372 m/s, rangeRepo size: 4  Added new target pos. range: 9.454104 m, bearing: 273.763814 deg, lat: 36.779374 deg, lon: -121.859573 deg, deltaT: 1.007277 s, deltaX: -0.398076 m, approachRate: -0.395200 m/s, posRepo size: 4 jhbhzIgnoring new targets. Set target to previous: 9.45 m. 9.85 m.RhZh ProNav: ac range: 9.852180 m, nav range: 8.981664 m, bearing: 272.375447 deg, approach rate: 0.000000 m/s, LOS rate: -0.079168 deg/s, cmd heading: 273.299856 deg, new cmd heading: 273.176697 deg. BhTY|HeadingCmd: 4.767833 target range: 9.852180 and range: 9.50 m.h@h*h"h hgfffdddjd#@Zd"?yɢLo) a>i):顉i-8һiXs<6=I@II)1MB@I @Q@Q@Qa % DDAT read: Rx Time:04:14:20.1407 % TRx dataTimestamp_ set to:1761538461.3169205 PDAT read: Bearing 93.6, -3.6 (Local) 5 ~Local bearing/azimuth received: Bearing 93.6, -3.6 (Local) M DAT read: Range 11 to 50 : 9.5 m (trip time 6.3 ms) speed 0.4 ^Au =A} >A} > DAT read: 04:14:20.1407 LVL= 29776, 32753, 32754, 32755, AGC= 56, IDX= 503,-0.09,-1.532, 2.992,-1.247,-1.566, PHS= 0.136,-1.680, 0.275, RAW= 153.6, 13.4, CAL= 153.9, 15.0, ROT= 356.1, -15.0  Ygot valid direction response: 04:14:20.1407 LVL= 29776, 32753, 32754, 32755, AGC= 56, IDX= 503,-0.09,-1.532, 2.992,-1.247,-1.566, PHS= 0.136,-1.680, 0.275, RAW= 153.6, 13.4, CAL= 153.9, 15.0, ROT= 356.1, -15.0  V#Rx 109: Read range and direction messages. ^direction in FSK: [0.963689,-0.065698,0.258819] Fpublishing direction and range infoy! % VU?;E ѰV!}?Y! ! % Pt! ! ! )! I% C >i% = ׿% ̌>! % |o>! % >)! I% ! ! % pa7? @?".ג? % \?)% nI! i% ! ! E checking for new query: numPingsReceived=109, elapsed TxPingTime=52.967731EU ) EU EQ EQ "EU `;*EU :VEQ ZEQ a] @a] @a] @ae @ԉAIIO>H,F[Zg?AFPm@F!h@F`ٱFqD ^AHRS rotation from veh to nav: [[0.081359,0.979243,0.185642],[-0.995173,0.069560,0.069219],[0.054869,-0.190378,0.980176]]FHӴ?@U?`?uα?R??L^ȿ]?iFPm@IF^;FlCYfցByfIIj4=)j<ԩiMb@Mb@Mb@ 9gfffff?~jty&1|?Y3>y`;3A@ )@YbDVDyp=%=ٔ-;Q->9Y)=-gFy-D-/fE5>1Q 5=45%?Q 9E45Hr)5]BYEk>Q EE:yELÿQ IE?5DI5<;i5;5#4yBɮA*EiikHTg?AJiRiji7@b$i8"@t(A@RVU?;E ѰV!}?Zibi jؤ?C(!e!@Zͯ?/!Cztk?2i :iW?"iCBW?*iNr]Bi߇BiLIP?ii߇Bi Ai@ addTargetRange:: Added new target pos. range: 9.500000 m, deltaT: 0.500976 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 U Added new target pos. range: 9.454104 m, bearing: 273.758102 deg, lat: 36.779375 deg, lon: -121.859573 deg, deltaT: 1.508253 s, deltaX: -0.398076 m, approachRate: -0.263932 m/s, posRepo size: 4 jhYbhY]zIgnoring new targets. Set target to previous: 9.45 m. 9.85 m.RhaZhau ProNav: ac range: 9.852180 m, nav range: 8.749372 m, bearing: 272.370010 deg, approach rate: 0.000000 m/s, LOS rate: -0.079168 deg/s, cmd heading: 273.176694 deg, new cmd heading: 273.071220 deg. Bhq}|HeadingCmd: 4.765992 target range: 9.852180 and range: 9.50 m.h}@hy*hy"hy hygyfffցBdddjdZd`/?checking for new query: numPingsReceived=109, elapsed TxPingTime=53.181633u/Bɢu6;)y B>i)顙i/׻ig3¿߈< =I@Iu@@q @q@u/@q ^A y=9 } DDAT read: Rx Time:04:14:20.6404  TRx dataTimestamp_ set to:1761538461.820731 PDAT read: Bearing 93.3, -3.9 (Local)  ~Local bearing/azimuth received: Bearing 93.3, -3.9 (Local)  DAT read: Range 11 to 50 : 9.0 m (trip time 6.0 ms) speed 0.4 B >B B IB BB =B B B u;B A0EByByByB} =B} =C}64 DAT read: 04:14:20.6404 LVL= 31968, 32753, 32754, 32755, AGC= 54, IDX= 501,-0.44, 2.731, 0.964, 3.030, 2.698, PHS= 0.135,-1.688, 0.288, RAW= 154.0, 13.2, CAL= 154.2, 14.8, ROT= 355.8, -14.8  Ygot valid direction response: 04:14:20.6404 LVL= 31968, 32753, 32754, 32755, AGC= 54, IDX= 501,-0.44, 2.731, 0.964, 3.030, 2.698, PHS= 0.135,-1.688, 0.288, RAW= 154.0, 13.2, CAL= 154.2, 14.8, ROT= 355.8, -14.8  V#Rx 110: Read range and direction messages. ^direction in FSK: [0.964227,-0.070809,0.255446] Fpublishing direction and range infoyy } Tx?%6ץ l39Y?Y} Ay } |y y y )} 6I} q= >i} bؿ} t>} ,@} k>} 9>,@ } A>)} Y@I} Ay y } & M?fkj?mJD? } ?)} 9Y=gFyD"g:E>!Q 5-4%&?Q 9-4%w)%']BY)y5@ÿQ I5?%DI%iY)]aaie2ݻiej{¿m&c iw,@ > c-@  >) DS@I 闾   h%?Ep?Q\S?  2z?) I %i 闾  } checking for new query: numPingsReceived=111, elapsed TxPingTime=53.954521E=, E=)E=(E9"E=c;*E=0;VE=c44ZE9aE@aE@aE@aE@AIIO >,rg?AQ]{@]Pv@]Mٱ]@ mAHRS rotation from veh to nav: [[0.083102,0.979748,0.182176],[-0.995276,0.072389,0.064701],[0.050203,-0.186692,0.981135]]]H /F? Z?Q?`L?`9?@1?ǿ ue?i]{@I]`^;]kCY-By-I 11i5Mb@Mb@Mb@1111 195)\(?{GzY5G>y5ף55A5@ 5VA)5ZA1Y5AbDmVDmN2y}=<%}=ٔ};Q-}>9Y=gFyD ;E>Q 54^'?Q 944~)5]BY>Q E:yĿQ I?DI";i!;,4yɮAiyi}Xɔg?AJiyRiyji}{@b}_S!@Ti\V@R}j}?F鴿兗7?Zi}%bi}闾j}-^Q ?JF q @Z}ժ?0?$*ie?2i}:i}Z>"i}PN?*i}#ZBi})Biyiyiyi}UAi}@u addTargetRange:: Added new target pos. range: 9.000000 m, deltaT: 0.504058 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 ԁ Added new target pos. range: 8.956500 m, bearing: 273.207436 deg, lat: 36.779375 deg, lon: -121.859573 deg, deltaT: 2.516122 s, deltaX: -0.895680 m, approachRate: -0.355977 m/s, posRepo size: 4 jhbhzIgnoring new targets. Set target to previous: 8.96 m. 9.85 m.RhZh ProNav: ac range: 9.852180 m, nav range: 8.295787 m, bearing: 272.368613 deg, approach rate: 0.000000 m/s, LOS rate: -0.079168 deg/s, cmd heading: 272.945288 deg, new cmd heading: 272.834442 deg. Bh|HeadingCmd: 4.761859 target range: 9.852180 and range: 9.00 m.h'a@h*h"h hgfffBdddjdZd% V ?iɢmP)i m>ii)uqqiu&:i}ͺ¿}{<}+5=I}'a@Ichecking for new query: numPingsReceived=111, elapsed TxPingTime=54.192223@ @@/@ԩ ^A )=] DDAT read: Rx Time:04:14:21.6402 ] TRx dataTimestamp_ set to:1761538462.829618Bm <Am <Bu >Bu CBu  IBu BBq Bq Bu DBu u;Bu )0E PDAT read: Bearing 96.1, -5.5 (Local)  ~Local bearing/azimuth received: Bearing 96.1, -5.5 (Local)  DAT read: Range 11 to 50 : 8.7 m (trip time 5.8 ms) speed 0.4  DAT read: 04:14:21.6402 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 498,-0.13, 2.881, 1.176,-3.083, 2.945, PHS= 0.039,-1.724, 0.212, RAW= 154.6, 15.7, CAL= 155.3, 17.9, ROT= 354.7, -17.9  Ygot valid direction response: 04:14:21.6402 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 498,-0.13, 2.881, 1.176,-3.083, 2.945, PHS= 0.039,-1.724, 0.212, RAW= 154.6, 15.7, CAL= 155.3, 17.9, ROT= 354.7, -17.9  V#Rx 112: Read range and direction messages. ^direction in FSK: [0.947526,-0.087899,0.307357] Fpublishing direction and range infoyY ]  A)"R?T작uY?Y] 3 AY Y Y Y Y )] 7I] w=i] ܿA .A G!I9III] Y>] ,@] K>] x-@ ] >)] @I] Y Y ] EY?g(C?cOtKK? ] ?)] 5I] qi] Y Y echecking for new query: numPingsReceived=112, elapsed TxPingTime=54.476696E! EEE"EY;*Ej:VEZEBE֬R,Pg?Ae@e~@e-Gٱe5B AHRS rotation from veh to nav: [[0.084109,0.979352,0.183835],[-0.995270,0.073567,0.063443],[0.048608,-0.188301,0.980908]]eH@.?@V??AQղ?=?2?`Aȿc?ie@Ie^;aY܁ByIbDVDy-i%-:=ٔ5n;Q-5>95 ?Y5 ?==gFy=D=;E=>ԁQ 54(?Q 94\)@]BYyÿQ I?DI:iV:X44yɮAi1i5vg?AJi5 ARi5 Aji5儘@b5b=h @]OZ| I@R5 A)"R?T작uY?Zi5qbi5j5&?ZW '7 @Z5,,q?Q`M?2i5:i5%>"i5L?*i5L&WBi5*Bi1i1i5߇Bi52Ai5@ addTargetRange:: Added new target pos. range: 8.700000 m, deltaT: 0.504829 s, deltaX: -0.300000 m, approachRate: -0.594261 m/s, rangeRepo size: 4  Added new target pos. range: 8.657911 m, bearing: 273.084425 deg, lat: 36.779375 deg, lon: -121.859573 deg, deltaT: 3.020951 s, deltaX: -1.194269 m, approachRate: -0.395329 m/s, posRepo size: 4 jhbhzIgnoring new targets. Set target to previous: 8.66 m. 9.85 m.RhZhe ProNav: ac range: 9.852180 m, nav range: 8.099541 m, bearing: 272.370990 deg, approach rate: 0.000000 m/s, LOS rate: -0.079168 deg/s, cmd heading: 272.834447 deg, new cmd heading: 272.726136 deg. Bhi%|HeadingCmd: 4.759969 target range: 9.852180 and range: 8.70 m.h%Q@h)*h)"h) hQgYfYfifidddjd`ff!@ԱZdy?Uchecking for new query: numPingsReceived=112, elapsed TxPingTime=54.693653]1Bɢ]u1)Y e>ia)eXaaie=i¿<O>=IQ@IEK@A @A@E4@A@M=@M= ^A d6= DDAT read: Rx Time:04:14:22.1401 TRx dataTimestamp_ set to:1761538463.333375%PDAT read: Bearing 94.9, -5.2 (Local) %~Local bearing/azimuth received: Bearing 94.9, -5.2 (Local) =DAT read: Range 11 to 50 : 8.6 m (trip time 5.7 ms) speed 0.3 eDAT read: 04:14:22.1401 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 498,-0.36,-2.816, 1.737,-2.495,-2.784, PHS= 0.070,-1.717, 0.245, RAW= 154.6, 14.8, CAL= 155.1, 16.8, ROT= 354.9, -16.8 mYgot valid direction response: 04:14:22.1401 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 498,-0.36,-2.816, 1.737,-2.495,-2.784, PHS= 0.070,-1.717, 0.245, RAW= 154.6, 14.8, CAL= 155.1, 16.8, ROT= 354.9, -16.8 uV#Rx 113: Read range and direction messages.}^direction in FSK: [0.953530,-0.085100,0.289032]}Fpublishing direction and range infoy  VP? $ɵ\.?Y  A     ) I )\=i ۿ Hz>   A> ?-@ Q >) 6@I Q   Luv?.?#O? ?) I Ki Q  checking for new query: numPingsReceived=113, elapsed TxPingTime=54.965187A؟AIIO>,Pg?ADD<E"- E"E E "E"d;*E"A:VE ZE a&@a&@a&@a&@,-ˆ@-@-1Bٱ-SC  AHRS rotation from veh to nav: [[0.084725,0.979135,0.184709],[-0.995277,0.074345,0.062428],[0.047393,-0.189125,0.980809]]-H`?U? ?`NF??C?C5ȿb?i-ˆ@I-I^;)Y]By]IaiMb@Mb@Mb@ 9S?I +~jthY/>y9D@ )YAbD%VD%ܲy5u=%5=ٔ5!;Q-5>9="?Y="?==gFy=DeM:Ee>iQ 5m4m(?Q 9u4m)mM]BYuy>Q Eu:yuĿQ Iu?mDImj:im:m=4yɮAiiVg?AJiARiAjiᇘ@b4DR @<^lN+@RVP? $ɵ\.?ZiKbiQ jla-?Ʒ"1 @Zsr?% ol?2iY:i>"iY^M?*iϗ\Bi͇BiPN?i#Zii@iB@- addTargetRange:: Added new target pos. range: 8.600000 m, deltaT: 0.503757 s, deltaX: -0.099999 m, approachRate: -0.198507 m/s, rangeRepo size: 4 e Added new target pos. range: 8.558395 m, bearing: 273.105292 deg, lat: 36.779375 deg, lon: -121.859575 deg, deltaT: 3.524708 s, deltaX: -1.293785 m, approachRate: -0.367062 m/s, posRepo size: 4 jhabhamzIgnoring new targets. Set target to previous: 8.56 m. 9.85 m.RhiZhi ProNav: ac range: 9.852180 m, nav range: 7.862329 m, bearing: 272.384469 deg, approach rate: 0.000000 m/s, LOS rate: -0.079168 deg/s, cmd heading: 272.726148 deg, new cmd heading: 272.597892 deg. Bh|HeadingCmd: 4.757731 target range: 9.852180 and range: 8.60 m.hU?@h*h"h hgfffBdddjd@33!@Zd`o?%2Bɢ%ļ)! -O>i))-N))i--iUBÿU&mc-@mG\>m^-@ m;>)m @Im;iim/d?3?5do1=? m?)m)YImim;iichecking for new query: numPingsReceived=114, elapsed TxPingTime=55.465771B>BCBBBBBBu;B0EIO%>, g?A%@%ᅙ@%&=ٱ%B EAHRS rotation from veh to nav: [[0.085009,0.979141,0.184543],[-0.995305,0.074845,0.061377],[0.046284,-0.188894,0.980906]]%H ,õ?U??)?l??-ȿ c?i%@I%^;%mCY}ׁBy}IE% E#E'E"EO];*E;VE'4ZEBE9Y=gFyDa/:E>Q 5%46)?Q 9%4_)V]BY!y-ĿQ I-? DI;i);IE4yQɮUAQii&g?AJi(ARi(Aji[@bQQej@E3= @R*7?HXgd?Zibi;jX:?nm󽢇ߪ@Zwɒw?mfg&M?2i:i>"iI?*i94ZBiBiY^M?i94Zi͇Bi\@i@  addTargetRange:: Added new target pos. range: 8.300000 m, deltaT: 0.503487 s, deltaX: -0.300000 m, approachRate: -0.595845 m/s, rangeRepo size: 4  Added new target pos. range: 8.259874 m, bearing: 272.796853 deg, lat: 36.779375 deg, lon: -121.859575 deg, deltaT: 4.028195 s, deltaX: -1.592306 m, approachRate: -0.395290 m/s, posRepo size: 4 jhbh%zIgnoring new targets. Set target to previous: 8.26 m. 9.85 m.RhAZhIU ProNav: ac range: 9.852180 m, nav range: 7.680642 m, bearing: 272.394972 deg, approach rate: 0.000000 m/s, LOS rate: -0.079168 deg/s, cmd heading: 272.597904 deg, new cmd heading: 272.497834 deg. BhY]|HeadingCmd: 4.755984 target range: 9.852180 and range: 8.30 m.h]1@hY*ha"ha hagfffdddjd @Zd?3B!ɢ)A E>iA)EAAiMOiMR{ÿU \,Kh?AT~@~o@~8ٱ~]{A -AHRS rotation from veh to nav: [[0.084838,0.979374,0.183382],[-0.995372,0.074967,0.060120],[0.045132,-0.187633,0.981202]]~H ?`W?` y?@ 1?Ȯ?@?_ȿf?i~@I~^;~kCY=ʁBy=IDDAT read: Rx Time:04:14:23.1398 TRx dataTimestamp_ set to:1761538464.340728PDAT read: Bearing 94.6, -4.9 (Local) ~Local bearing/azimuth received: Bearing 94.6, -4.9 (Local) DAT read: Range 11 to 50 : 8.1 m (trip time 5.4 ms) speed 0.4 DAT read: 04:14:23.1398 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 510, 0.07,-2.233, 2.309,-1.924,-2.211, PHS= 0.081,-1.718, 0.243, RAW= 154.3, 14.7, CAL= 154.7, 16.6, ROT= 355.3, -16.6 Ygot valid direction response: 04:14:23.1398 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 510, 0.07,-2.233, 2.309,-1.924,-2.211, PHS= 0.081,-1.718, 0.243, RAW= 154.3, 14.7, CAL= 154.7, 16.6, ROT= 355.3, -16.6 V#Rx 115: Read range and direction messages.^direction in FSK: [0.955100,-0.078524,0.285688] Fpublishing direction and range infoy".?+5 WԷH?YA )IT=imۿx>Z,@3,@ V>)o@IVIܕ?::n?|/? /?)낾IiVEchecking for new query: numPingsReceived=115, elapsed TxPingTime=55.973480iMMb@Mb@Mb@IIII I9M?y&1y&1|YMf>yM`弙M`MAI I)Mp@IYMAbDeVDe0yu^%u8=ٔ});Q-}>9 ?Y ?=gFyDҹE>Q 54)?Q 94)^]BY]>Q Ee:ye^ƿQ Ie?DIF@QDCAvtPl@R".?+5 WԷH?ZibiVj\'?wJY\@Zq?>"iO?*i?ZBi>Bii#Ziim@i@m addTargetRange:: Added new target pos. range: 8.100000 m, deltaT: 0.503866 s, deltaX: -0.200000 m, approachRate: -0.396931 m/s, rangeRepo size: 4  Added new target pos. range: 8.060842 m, bearing: 273.442839 deg, lat: 36.779375 deg, lon: -121.859575 deg, deltaT: 4.532061 s, deltaX: -1.791339 m, approachRate: -0.395259 m/s, posRepo size: 4 jhbhzIgnoring new targets. Set target to previous: 8.06 m. 9.85 m.RhZh ProNav: ac range: 9.852180 m, nav range: 7.482306 m, bearing: 272.426530 deg, approach rate: 0.000000 m/s, LOS rate: -0.079168 deg/s, cmd heading: 272.497828 deg, new cmd heading: 272.385093 deg. Bh|HeadingCmd: 4.754017 target range: 9.852180 and range: 8.10 m.h @h*h"h! h!g!f!f!f-BdIdIdQjdU@33 @ZdU@A~?额4BɢC)  >i)WW顡iEziMͻÿMn ,ʨ1h?AUw@Ufr@UE1ٱU? eAHRS rotation from veh to nav: [[0.082654,0.979831,0.181934],[-0.995641,0.073274,0.057698],[0.043204,-0.185910,0.981616]]UH(? Z?`I?`K²?ࠊ?@?ǿgi?iUw@IUӜ^;UjCYuāByuIAAbDVD1ԑy\%1=ٔ;Q->9Y=gFyDE>Q 54)?Q 94)g]BYyƿQ I?'DIB:i[:U4yɮ5AB*** querying acoustic contact ***i ijhbhzIgnoring new targets. Set target to previous: 9.85 m. 9.85 m.Rh:Zh:DDAT read: Rx Time:04:14:23.6396 %TRx dataTimestamp_ set to:1761538464.844804-PDAT read: Bearing 95.1, -4.5 (Local) -~Local bearing/azimuth received: Bearing 95.1, -4.5 (Local) =DAT read: Range 11 to 50 : 7.8 m (trip time 5.2 ms) speed 0.4 Bu>BqBuIBuBBu =BqBuDBuu;Bu0EDAT read: 04:14:23.6396 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 508,-0.12, 1.254,-0.488, 1.541, 1.278, PHS= 0.077,-1.722, 0.219, RAW= 153.7, 15.1, CAL= 154.2, 17.1, ROT= 355.8, -17.1 Ygot valid direction response: 04:14:23.6396 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 508,-0.12, 1.254,-0.488, 1.541, 1.278, PHS= 0.077,-1.722, 0.219, RAW= 153.7, 15.1, CAL= 154.2, 17.1, ROT= 355.8, -17.1 V#Rx 116: Read range and direction messages.= ProNav: ac range: 9.852180 m, nav range: 7.273902 m, bearing: 272.465142 deg, approach rate: -0.506103 m/s, LOS rate: 0.096454 deg/s, cmd heading: 272.385103 deg, new cmd heading: 272.504257 deg. BhEd;]^direction in FSK: [0.953226,-0.070001,0.294040]eFpublishing direction and range infoyP:Ԁ?鯩;뱿?m|HeadingCmd: 4.756096 target range: 9.852180 and range: 8.10 m.hm1@hi*hq"hq hqgyfyfyfydY@ )7I-=ijܿA`>>+@V>9>,@ Θ>)Y@IΘ쓒?]!f,?µ/f? -?)Wddjd@33@Zd?Ii iΘchecking for new query: numPingsReceived=116, elapsed TxPingTime=56.517723E%, E%E!E!"E%c;*E%j:VE!ZE!BE%t<2E%u<JE%L<:E%Lii)uUqqiui}wÿ}<}޵D=I}1@IJ@ @@3@ checking for new query: numPingsReceived=116, elapsed TxPingTime=56.712955^A gW=! A5 ؟AI9 II O] >,Kh?A4<ɰYByIiMb@Mb@Mb@ 9x&1?~jty&1|YA?y@ A)ZAYAbDVDf?y½%H=ٔQ->9"?Y"?=gFyDE>Q 54)?Q 94w)p]BY?Q E:yRȿQ I?5DI:i:q4\4yɮAiIiME6h?AJiMd@RiMd@jiM@bM~~RӘ@9DcGlB@RMP:Ԁ?鯩;뱿?ZiMi biMΘjMz|⍤?>}HJ@ZM77LN?sE0 ?2iM:iM$>"iMES?*iMU]BiMBiIiM?ZiMBiMy@iM@ addTargetRange:: Added new target pos. range: 7.800000 m, deltaT: 0.504076 s, deltaX: -0.300000 m, approachRate: -0.595149 m/s, rangeRepo size: 4  Added new target pos. range: 7.762317 m, bearing: 273.887857 deg, lat: 36.779375 deg, lon: -121.859575 deg, deltaT: 5.036137 s, deltaX: -2.089864 m, approachRate: -0.414974 m/s, posRepo size: 4 jhbhzIgnoring new targets. Set target to previous: 7.76 m. 9.85 m.RhZh ProNav: ac range: 9.852180 m, nav range: 7.068942 m, bearing: 272.527042 deg, approach rate: 0.000000 m/s, LOS rate: -0.079168 deg/s, cmd heading: 272.504249 deg, new cmd heading: 272.390797 deg. BhTY|HeadingCmd: 4.754116 target range: 9.852180 and range: 7.80 m.h!@h*h"h hgfffBdddjdZd\?%DDAT read: Rx Time:04:14:24.1395 -TRx dataTimestamp_ set to:1761538465.3489635PDAT read: Bearing 94.9, -3.8 (Local) =~Local bearing/azimuth received: Bearing 94.9, -3.8 (Local) MDAT read: Range 11 to 50 : 7.7 m (trip time 5.1 ms) speed 0.4 mDAT read: 04:14:24.1395 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 508,-0.44,-2.884, 1.642,-2.626,-2.878, PHS= 0.096,-1.719, 0.208, RAW= 153.0, 15.0, CAL= 153.4, 16.9, ROT= 356.6, -16.9 uYgot valid direction response: 04:14:24.1395 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 508,-0.44,-2.884, 1.642,-2.626,-2.878, PHS= 0.096,-1.719, 0.208, RAW= 153.0, 15.0, CAL= 153.4, 16.9, ROT= 356.6, -16.9 }V#Rx 117: Read range and direction messages.^direction in FSK: [0.955129,-0.056745,0.290702]Fpublishing direction and range infoy)-Kk?-*@- >-uY+@ ->)-)@ԑI-))-^??\P?Ey݂? -L?)-I-si-))checking for new query: numPingsReceived=117, elapsed TxPingTime=56.978661}7Bɢ},w) Fq>i)顱iƚiÿ@<LUN=I!@E - E E *E "E d;*E :VE (N4ZE a@a@a@a@IE N@A  @A @E 4@A @M =@M =  checking for new query: numPingsReceived=117, elapsed TxPingTime=57.216759^Ae g@=AIIO?Ҩ,lh?AfM@fXH@fL-ٱfA nAHRS rotation from veh to nav: [[0.077544,0.979942,0.183575],[-0.996087,0.068320,0.056060],[0.042394,-0.187204,0.981406]]fHٳ?[?c? g}?ⳬ? ?`Lǿ@g?ifM@If4^;fiCYvByzIIz<)z<bDVDܲy<%%=ٔ):Q->9Y=%gFy%D%)E%>)Q 554-*?Q 954-)-{]BY1y=ȿQ I=?-DDI- :i-F:-d4yAɮMAIiiiUVh?AJi5@Ri5@jiJ=@b _ОF@5ۿ>@RKk?:i ?"icX?*iDbBi܆BiO?iϗ\i>Bi@iۘ@ addTargetRange:: Added new target pos. range: 7.700000 m, deltaT: 0.504159 s, deltaX: -0.100000 m, approachRate: -0.198351 m/s, rangeRepo size: 4  Added new target pos. range: 7.662799 m, bearing: 274.374116 deg, lat: 36.779375 deg, lon: -121.859576 deg, deltaT: 5.540296 s, deltaX: -2.189381 m, approachRate: -0.395174 m/s, posRepo size: 4 jhAbhAyzIgnoring new targets. Set target to previous: 7.66 m. 9.85 m.RhZhE ProNav: ac range: 9.852180 m, nav range: 6.820124 m, bearing: 272.617934 deg, approach rate: 0.000000 m/s, LOS rate: -0.079168 deg/s, cmd heading: 272.390785 deg, new cmd heading: 272.288440 deg. BhA|HeadingCmd: 4.752330 target range: 9.852180 and range: 7.70 m.h@h*h"h hgfffdddjd@Zd"?8Bɢtd) v>i)   i i5ÿ5*<5PA=I5@I9Ex>iE>DDAT read: Rx Time:04:14:24.6393 TRx dataTimestamp_ set to:1761538465.852778PDAT read: Bearing 95.3, -3.7 (Local) ~Local bearing/azimuth received: Bearing 95.3, -3.7 (Local) B >BBIBBBBBB_u;B0EDAT read: Range 11 to 50 : 7.4 m (trip time 4.9 ms) speed 0.4 ]DAT read: 04:14:24.6393 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 505, 0.13,-3.002, 1.528,-2.754,-2.983, PHS= 0.084,-1.727, 0.185, RAW= 152.7, 15.5, CAL= 153.2, 17.5, ROT= 356.8, -17.5 uYgot valid direction response: 04:14:24.6393 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 505, 0.13,-3.002, 1.528,-2.754,-2.983, PHS= 0.084,-1.727, 0.185, RAW= 152.7, 15.5, CAL= 153.2, 17.5, ROT= 356.8, -17.5 }V#Rx 118: Read range and direction messages.^direction in FSK: [0.952230,-0.053238,0.300706]Fpublishing direction and range infoԩ?@  @ @ /@ yp,Ūx?0|DB->?Y@ )6I1=iVݿp=>J*@c>D +@ a>)SF@Ia*?IW?J*? ?)+Idia}checking for new query: numPingsReceived=118, elapsed TxPingTime=57.524002E4 EE)E"Ej;*E:VEFA4ZEBE!,Lh?AB3@Bd.@B-ٱBSB ZAHRS rotation from veh to nav: [[0.074388,0.979886,0.185174],[-0.996325,0.065122,0.055634],[0.042456,-0.188632,0.981130]]BH ?`:[?ʳ?۫?|?ʼ?%ȿje?iB3@IBt^;BkCYbByb{IiMb@Mb@Mb@ 9K7A`?V-y&1|Y ?yA@ A)@YA 4<p;bD VD y2%0=ٔ= Q-E>9AYA=EgFyE DMjݻEM>QQ 5]4Un*?Q 9]4U)U]BYe7 ?Q Ee:yeƿQ Ie?UUDIU<;iUb;Um4yɮAiivh?AJi@Ri@jiU@bI{ @{ٿ@@Rp,Ūx?0|DB->?Zidbiaj c?jaTZ@Z@?a Z?2is:i+ ?"iMX?*i^`BiBiES?iU]iBi?@i@ addTargetRange:: Added new target pos. range: 7.400000 m, deltaT: 0.503815 s, deltaX: -0.300000 m, approachRate: -0.595456 m/s, rangeRepo size: 4 E Added new target pos. range: 7.364272 m, bearing: 274.544249 deg, lat: 36.779375 deg, lon: -121.859576 deg, deltaT: 6.044111 s, deltaX: -2.487908 m, approachRate: -0.411625 m/s, posRepo size: 4 jhAbhAMzIgnoring new targets. Set target to previous: 7.36 m. 9.85 m.RhIZhI} ProNav: ac range: 9.852180 m, nav range: 6.565437 m, bearing: 272.675815 deg, approach rate: 0.000000 m/s, LOS rate: -0.079168 deg/s, cmd heading: 272.288442 deg, new cmd heading: 272.174551 deg. Bhy|HeadingCmd: 4.750342 target range: 9.852180 and range: 7.40 m.h@h*h"h hgfffMBdddjd@Zd 8?1:Bɢ߂) ^>i)i#i54Ŀ<>=I@IDDAT read: Rx Time:04:14:25.1392 TRx dataTimestamp_ set to:1761538466.356929PDAT read: Bearing 94.9, -2.4 (Local) ~Local bearing/azimuth received: Bearing 94.9, -2.4 (Local) DAT read: Range 11 to 50 : 7.2 m (trip time 4.8 ms) speed 0.4 DAT read: 04:14:25.1392 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 505,-0.20,-3.014, 1.482,-2.813,-3.030, PHS= 0.118,-1.726, 0.173, RAW= 151.5, 15.2, CAL= 151.8, 17.0, ROT= 358.2, -17.0 Ygot valid direction response: 04:14:25.1392 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 505,-0.20,-3.014, 1.482,-2.813,-3.030, PHS= 0.118,-1.726, 0.173, RAW= 151.5, 15.2, CAL= 151.8, 17.0, ROT= 358.2, -17.0 V#Rx 119: Read range and direction messages.^direction in FSK: [0.955833,-0.030038,0.292372]B@ @ @ 4@ DzDEFpublishing direction and range infoy.?Ož兗7?Yf@ )7aI=iܿ&1>%:)@ԇ>)@ >)@E+ EE'E"Eb;*E4:VE'4ZEa@a@a@a@I闾卮X?KU?ds? ) ?)Iѭi闾checking for new query: numPingsReceived=119, elapsed TxPingTime=58.030804ԉ ^Ae K@=Achecking for new query: numPingsReceived=119, elapsed TxPingTime=58.221966IԱIO>s_),Ph?A2@2_@2g.ٱ2 D >AHRS rotation from veh to nav: [[0.071101,0.979815,0.186835],[-0.996561,0.061786,0.055224],[0.042566,-0.190119,0.980838]]2H3?Z?6?]?@^F?3˥?Uȿ c?i2@I2^;2iCYBByFaIbDNVDNyV %V;=ٔVQ-Z>9XYX=ZgFyZD^E^>`Q 5f4b*?Q 9f4b)b]BYdyfƿQ Ij?bdDIb;ib:bt4ynݔBɮnFAn=Eiiזh?AJiI@RiI@ji@b #e@,F˿<-a@R.?Ož兗7?Ziѭbi闾j5P[?E"8+`[U;@Z+iط?zb/EUR?2i!:i*?"iac?*i4bBi[BicX?i^`i܆Bi@i"e@ addTargetRange:: Added new target pos. range: 7.200000 m, deltaT: 0.504151 s, deltaX: -0.200000 m, approachRate: -0.396707 m/s, rangeRepo size: 4  Added new target pos. range: 7.165237 m, bearing: 275.669995 deg, lat: 36.779376 deg, lon: -121.859577 deg, deltaT: 6.548262 s, deltaX: -2.686943 m, approachRate: -0.410329 m/s, posRepo size: 4 jhbh zIgnoring new targets. Set target to previous: 7.17 m. 9.85 m.Rh Zh M ProNav: ac range: 9.852180 m, nav range: 6.330204 m, bearing: 272.740452 deg, approach rate: 0.000000 m/s, LOS rate: -0.079168 deg/s, cmd heading: 272.174542 deg, new cmd heading: 272.074294 deg. BhIU|HeadingCmd: 4.748592 target range: 9.852180 and range: 7.20 m.hUx@hQ*hQ"hy hygyfffdddjd@Zdn?eii)miiimwimĿ7<9=Ix@I5A@9 @9@E/@AADDAT read: Rx Time:04:14:25.6390 TRx dataTimestamp_ set to:1761538466.860797PDAT read: Bearing 94.8, -1.3 (Local) BA4=BBBIBځBB =BBB%u;B/EBaBaBaBaBaCehM5~Local bearing/azimuth received: Bearing 94.8, -1.3 (Local) DAT read: Range 11 to 50 : 6.9 m (trip time 4.6 ms) speed 0.4 %DAT read: 04:14:25.6390 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 502, 0.17,-2.032, 2.441,-1.871,-2.069, PHS= 0.139,-1.728, 0.154, RAW= 150.4, 15.1, CAL= 150.7, 16.9, ROT= 359.3, -16.9 -Ygot valid direction response: 04:14:25.6390 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 502, 0.17,-2.032, 2.441,-1.871,-2.069, PHS= 0.139,-1.728, 0.154, RAW= 150.4, 15.1, CAL= 150.7, 16.9, ROT= 359.3, -16.9 5V#Rx 120: Read range and direction messages.]^direction in FSK: [0.956742,-0.011689,0.290702]eFpublishing direction and range infoy< ġ?jTcݚ?Y@ )6IV>i/ݿ->'@V>aU(@ >)ū@IV$?"^18B?~[? ?)TID+HiT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with 120 pings in terminal homing one-way mode.^A5 l;=A5 fAzA5 hAEE  EE EA EA "EE X;*EE O:VEA ZEA BEE Q;0,h?A06R@6#@64/ٱ6]VD >AHRS rotation from veh to nav: [[0.068030,0.979951,0.187262],[-0.996766,0.058715,0.054857],[0.042762,-0.190389,0.980777]]6Hmj?[?6?@?@.??^ȿb?i6R@I6Ͻ^;6jCYrByr`IbDxVDxyEɻ%MB=ٔM4Q-M>9U ?YU ?=UgFyUDUE>Q 54+?Q 94)]BYy\ǿQ I?sDIi )i4iĿ<6=I@I!)Թ@@ @@@  DDAT read: Rx Time:04:14:26.1387  TRx dataTimestamp_ set to:1761538467.365638 PDAT read: Bearing 95.3, 0.9 (Local)  ~Local bearing/azimuth received: Bearing 95.3, 0.9 (Local) ^A S9= DAT read: Range 11 to 50 : 6.5 m (trip time 4.3 ms) speed 0.4 U DAT read: 04:14:26.1387 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 501,-0.32, 2.736, 0.884, 2.815, 2.669, PHS= 0.168,-1.741, 0.102, RAW= 148.2, 15.5, CAL= 148.3, 17.1, ROT= 1.7, -17.1 bEjE̅04rET/E]  E] E] &EY "E] W;*E] :VE] 4ZEY am @am @am @am @ Ygot valid direction response: 04:14:26.1387 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 501,-0.32, 2.736, 0.884, 2.815, 2.669, PHS= 0.168,-1.741, 0.102, RAW= 148.2, 15.5, CAL= 148.3, 17.1, ROT= 1.7, -17.1  R#Rx 1: Read range and direction messages. \direction in FSK: [0.955372,0.028355,0.294040] Fpublishing direction and range infoy  vh?st ??Y @ ) 7I 1,>i ޿ `= ~%@ c> %@ Θ>) ) fI 6,T5h?A:Querying Benthos address 50 with 120 pings in terminal homing one-way mode.YByiIAiMb@Mb@Mb@ 9Q?MbMbpY?y@Aj@ A)@Y=A!!bD-VD-y5<%==ٔ]Q-]>9e"?Ye"?=egFye(DmEm>iQ 5u4m*?Q 94m)m]BY>?Q E:yʿQ I?mDIm;im;m/4yɮAi9i=fh?AJi=@Ri=@ji=Fћ@b=oHC@4$+g1z?ӊNn?R=vh?st ??Zi=<bi=Θ]2Acoustic response timeoutj=:[?W-Ԁ0@Z=?ѬSf7ع?2i=o:i=t?"i=9M{?*i=_Bi=˅Bi=ac?i9i=[Bi=@i=kC@ addTargetRange:: Added new target pos. range: 6.500000 m, deltaT: 0.504841 s, deltaX: -0.400000 m, approachRate: -0.792329 m/s, rangeRepo size: 4  Added new target pos. range: 6.468626 m, bearing: 278.990119 deg, lat: 36.779377 deg, lon: -121.859578 deg, deltaT: 7.556971 s, deltaX: -3.383554 m, approachRate: -0.447740 m/s, posRepo size: 4 jhbhzIgnoring new targets. Set target to previous: 6.47 m. 9.85 m.RhZh ProNav: ac range: 9.852180 m, nav range: 5.794206 m, bearing: 272.999159 deg, approach rate: 0.000000 m/s, LOS rate: -0.079168 deg/s, cmd heading: 271.956249 deg, new cmd heading: 271.844383 deg. Bh|HeadingCmd: 4.744579 target range: 9.852180 and range: 6.50 m.h ӗ@h*h"h hgfffIBddd!jd%@Zd%?i颍?Bɢ8) 7>i)8顙ixi Ŀ%H<>=Iӗ@I@ @@/@ԩ g> ːC 1 Q {9 Y dA ^A п8== DDAT read: Rx Time:04:14:26.6384 E TRx dataTimestamp_ set to:1761538467.873889] PDAT read: Bearing 96.3, 2.8 (Local) ] ~Local bearing/azimuth received: Bearing 96.3, 2.8 (Local)  DAT read: Range 11 to 50 : 6.2 m (trip time 4.1 ms) speed 0.5  DAT read: 04:14:26.6384 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 498,-0.11, 2.393, 0.511, 2.396, 2.316, PHS= 0.180,-1.760, 0.036, RAW= 146.2, 16.3, CAL= 146.0, 17.9, ROT= 4.0, -17.9 B >BBIBƁBBBBBt;B/EmYgot valid direction response: 04:14:26.6384 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 498,-0.11, 2.393, 0.511, 2.396, 2.316, PHS= 0.180,-1.760, 0.036, RAW= 146.2, 16.3, CAL= 146.0, 17.9, ROT= 4.0, -17.9 uR#Rx 1: Read range and direction messages.\direction in FSK: [0.949276,0.066380,0.307357]Fpublishing direction and range infoy9 = ^W*x`?Y?iE?uY?Y= f@9 9 9 9 9 )9 I= Q8>i= GΈ= t== N#@= >= e#@ = >)= 5=I= 9 9 = KW?3ժ? ٙH? = >)= )CA.AIIO?>,-h?A ɰ49 ?Y ?=gFy1DuE> Q 554 M*?Q 954 ) ]BY1y5q˿Q I=? DI h;i ; 4yAɮEFAAiih?AJiq@Riq@ji@bAoRm@9sd6?W?R^W*x`?Y?iE?uY?Zi5=bij%"?#X[K@Z_ !?D9| ?2i:i?"iC?*i%<]BiBi*i?i^`iBi@i@- addTargetRange:: Added new target pos. range: 6.200000 m, deltaT: 0.508251 s, deltaX: -0.300000 m, approachRate: -0.590260 m/s, rangeRepo size: 4 = Added new target pos. range: 6.170091 m, bearing: 281.037182 deg, lat: 36.779378 deg, lon: -121.859577 deg, deltaT: 8.065222 s, deltaX: -3.682089 m, approachRate: -0.456539 m/s, posRepo size: 4 jhAbhAIezIgnoring new targets. Set target to previous: 6.17 m. 9.85 m.RhiZhi ProNav: ac range: 9.852180 m, nav range: 5.534320 m, bearing: 273.190434 deg, approach rate: 0.000000 m/s, LOS rate: -0.079168 deg/s, cmd heading: 271.844370 deg, new cmd heading: 271.738917 deg. Bh|HeadingCmd: 4.742739 target range: 9.852180 and range: 6.20 m.hė@h*h"h hgfffdddjd@Zdo ?2Acoustic response timeoutUABɢ}) '>i)项iui]-ſɐ<y&,=Iė@Iq@ @@@ԩ ^A K@=A ?A > DDAT read: Rx Time:04:14:27.1383  TRx dataTimestamp_ set to:1761538468.375120 PDAT read: Bearing 92.6, 4.5 (Local)  ~Local bearing/azimuth received: Bearing 92.6, 4.5 (Local)  DAT read: Range 11 to 50 : 6.0 m (trip time 4.0 ms) speed 0.7  DAT read: 04:14:27.1383 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 513, 0.04,-0.020,-2.215,-0.074,-0.268, PHS= 0.350,-1.903, 0.150, RAW= 145.4, 12.9, CAL= 145.1, 14.1, ROT= 4.9, -14.1 5 Ygot valid direction response: 04:14:27.1383 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 513, 0.04,-0.020,-2.215,-0.074,-0.268, PHS= 0.350,-1.903, 0.150, RAW= 145.4, 12.9, CAL= 145.1, 14.1, ROT= 4.9, -14.1 = R#Rx 1: Read range and direction messages.M \direction in FSK: [0.966327,0.082843,0.243615]M Fpublishing direction and range infoy  If{'?:5? .?Y @ ) 5I 33>i > i"@ f>E * E E 'E "E a;*E O:VE '4ZE BE ) %=I d{ UV)X,?Tlń?1F? I>) 'gI %=i d{ 2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.A؟AIIO>F,xi?AJ@Jg@J{k7ٱJ6B RAHRS rotation from veh to nav: [[0.054668,0.980965,0.186331],[-0.997501,0.045287,0.054236],[0.044765,-0.188830,0.980989]]JH h?d??`/?`ī?@y?@+ȿBd?iJ@IJe^;JiCYZByZhIi}Mb@Mb@Mb@yyyy y9}$C?ˡE{Gzt?Y}?y}'}ף;}dA}@ }pA)}Z@yY}pA bDVDym<% =ٔ -Q- >9"?Y"?=gFy;DSE>Q 5%4*?Q 9-4+)]BY-y?Q E-:y-jʿQ I-?DIK ;i ;4y9ɮ=A9i)i-i?AJi-@Ri-@ji-jʜ@b- y@W?"u3F?R-If{'?:5? .?Zi-%=bi-d{j-$%?ޢpmOx?Z-*H,i?EeM ?2i-:i-.?"i-U?*i-cBi-ɄBi-9M{?i-ގai-˅Bi-@i-I@ addTargetRange:: Added new target pos. range: 6.000000 m, deltaT: 0.501231 s, deltaX: -0.200000 m, approachRate: -0.399017 m/s, rangeRepo size: 4  Added new target pos. range: 5.971056 m, bearing: 280.732641 deg, lat: 36.779380 deg, lon: -121.859578 deg, deltaT: 8.566453 s, deltaX: -3.881124 m, approachRate: -0.453061 m/s, posRepo size: 4 jhbhzIgnoring new targets. Set target to previous: 5.97 m. 9.85 m.Rh!Zh!5 ProNav: ac range: 9.852180 m, nav range: 5.219801 m, bearing: 273.419608 deg, approach rate: 0.000000 m/s, LOS rate: -0.079168 deg/s, cmd heading: 271.738912 deg, new cmd heading: 271.617395 deg. Bh1=|HeadingCmd: 4.740618 target range: 9.852180 and range: 6.00 m.h=$@h9*h9A"h9 hagafafifm.Bdididqjdu@Zduv?BBɢO) .>i)iirſ0<V=I$@IIfA)E2Acoustic response timeoutB@ @@/@qԡ ^A #'= DDAT read: Rx Time:04:14:27.6384  TRx dataTimestamp_ set to:1761538468.878841 PDAT read: Bearing 95.5, 5.6 (Local) % ~Local bearing/azimuth received: Bearing 95.5, 5.6 (Local) = DAT read: Range 11 to 50 : 6.2 m (trip time 4.1 ms) speed 0.5 Am .AIy I O >M,ȕ9i?A 2DAT read: 04:14:27.6384 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 510, 0.08,-1.326, 2.950,-1.426,-1.484, PHS= 0.260,-1.804, 0.014, RAW= 143.7, 15.5, CAL= 143.2, 16.8, ROT= 6.8, -16.8 6Ygot valid direction response: 04:14:27.6384 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 510, 0.08,-1.326, 2.950,-1.426,-1.484, PHS= 0.260,-1.804, 0.014, RAW= 143.7, 15.5, CAL= 143.2, 16.8, ROT= 6.8, -16.8 6R#Rx 1: Read range and direction messages.:\direction in FSK: [0.950585,0.113350,0.289032]EB) EB%EB(E@"EB`;*EB;VEBc44ZE@aF@aF@aF@aF@A^@AA^@ABb >B`BbIBbBBb =B`B`Bbt;Bb/E>Fpublishing direction and range infoy61k??\.?Yf@ )I>iy濉B`e< @c>@ Q >)=IQ R:?҈T?%p? )>) ^I=iQ 52Acoustic response timeout5Querying Benthos address 50 with 120 pings in terminal homing one-way mode.EYw@E*r@EPC;ٱE:B AHRS rotation from veh to nav: [[0.051470,0.981130,0.186370],[-0.997628,0.041973,0.054554],[0.045703,-0.188736,0.980964]]EH RZ?ke??z}??Sf?`(ȿ@d?iEYw@IEi^;EjCYBynIbD5VD5yE(<%E@=ٔM}Q-M>9M ?Ym ?=ugFyuDDuEu>yQ 54})?Q 94})}]BYyʿQ I?}DI};i};}4yBɮAFEii>8i?AJiq@Riq@ji @bQu@DTa?`?R61k??\.?Zi=biQ j z ?7G"ATk0*?Z$d?)dݺ?2i0:i?"iL?*iylBidBiU?iiBiR@i1@Im addTargetRange:: Added new target pos. range: 6.200000 m, deltaT: 0.503721 s, deltaX: 0.200000 m, approachRate: 0.397045 m/s, rangeRepo size: 4 } Added new target pos. range: 6.170078 m, bearing: 282.988549 deg, lat: 36.779381 deg, lon: -121.859578 deg, deltaT: 9.070174 s, deltaX: -3.682102 m, approachRate: -0.405957 m/s, posRepo size: 4 jhybhyzIgnoring new targets. Set target to previous: 6.17 m. 9.85 m.RhZh ProNav: ac range: 9.852180 m, nav range: 4.963451 m, bearing: 273.637486 deg, approach rate: 0.000000 m/s, LOS rate: -0.079168 deg/s, cmd heading: 271.617389 deg, new cmd heading: 271.514902 deg. Bh|HeadingCmd: 4.738829 target range: 9.852180 and range: 6.20 m.h}@h*h"h hgfffdddjd@Zd@.?=DBɢ=މ)A M6>iI)M,WIIiMS iewſeU,}Ui?A2a@2[@2e==ٱ2B NAHRS rotation from veh to nav: [[0.048757,0.981261,0.186411],[-0.997742,0.039219,0.054517],[0.046185,-0.188648,0.980958]]2H? ~f?O?@?? ?%ȿ@d?i2a@I22^;2iCYTyTi5Mb@Mb@Mb@1111 195'1Z?Mby&1|?Y5"?y55`;5A5j@ 5A)11Y1bDeVDek1ٔQ->DDAT read: Rx Time:04:14:28.1382 TRx dataTimestamp_ set to:1761538469.381953PDAT read: Bearing 95.8, 6.1 (Local) ~Local bearing/azimuth received: Bearing 95.8, 6.1 (Local) DAT read: Range 11 to 50 : 5.9 m (trip time 3.9 ms) speed 0.5 UDAT read: 04:14:28.1382 LVL= 32752, 32753, 32754, 32755, AGC= 51, IDX= 509, 0.07, 0.212,-1.837, 0.086, 0.050, PHS= 0.264,-1.842,-0.008, RAW= 143.2, 15.8, CAL= 142.6, 17.1, ROT= 7.4, -17.1 ]Ygot valid direction response: 04:14:28.1382 LVL= 32752, 32753, 32754, 32755, AGC= 51, IDX= 509, 0.07, 0.212,-1.837, 0.086, 0.050, PHS= 0.264,-1.842,-0.008, RAW= 143.2, 15.8, CAL= 142.6, 17.1, ROT= 7.4, -17.1 eR#Rx 1: Read range and direction messages.m\direction in FSK: [0.947832,0.123102,0.294040]mFpublishing direction and range infoy9T?J[ě??Y̼@ )3I+>i뿉o@0>&I@ Θ>) A>IΘuXN?_ T>?c g? &>)I A>iΘ2Acoustic response timeoutE1 E-EE"E2h;*EK;VEZEBE_Q 54Y*?Q 94h)]BY"?Q E%:y%ſQ I%?DIphbiΘj?I@u9?Zsd?8= 5H?2iĭ:i?"iAw?*i,i))i" iſ<"=I┗@I @@ @@@@gA@gAE 2Acoustic response timeoutI ^A =A gAzA gAq A I!IIOu>$C\,nsi?ANL@NG@N!>?ٱN 9tYt=vgFyzUDzƻEz>9aQ 5m4e*?Q 9m4el)e^BYqyuƿQ Iu?eDIe;iek;e4yɮAB*** querying acoustic contact ***i ijhbhzIgnoring new targets. Set target to previous: 9.85 m. 9.85 m.Rh;Zh; ProNav: ac range: 9.852180 m, nav range: 4.412637 m, bearing: 273.913119 deg, approach rate: -0.679220 m/s, LOS rate: 0.393598 deg/s, cmd heading: 271.405763 deg, new cmd heading: 271.869277 deg. Bh<|HeadingCmd: 4.745014 target range: 9.852180 and range: 5.90 m.h(ח@h*h"h hgfffdddjdZd`5?-FBɢ-F)1 5a>i1)=C99i=9 iMĿIMiiDDAT read: Rx Time:04:14:28.6379 TRx dataTimestamp_ set to:1761538469.885670PDAT read: Bearing 93.9, 6.8 (Local) ~Local bearing/azimuth received: Bearing 93.9, 6.8 (Local) DAT read: Range 11 to 50 : 5.4 m (trip time 3.6 ms) speed 0.5 DAT read: 04:14:28.6379 LVL= 32752, 32753, 32754, 32755, AGC= 50, IDX= 506, 0.05,-0.512,-2.621,-0.658,-0.748, PHS= 0.338,-1.828, 0.046, RAW= 142.9, 14.1, CAL= 142.3, 15.3, ROT= 7.7, -15.3 Ygot valid direction response: 04:14:28.6379 LVL= 32752, 32753, 32754, 32755, AGC= 50, IDX= 506, 0.05,-0.512,-2.621,-0.658,-0.748, PHS= 0.338,-1.828, 0.046, RAW= 142.9, 14.1, CAL= 142.3, 15.3, ROT= 7.7, -15.3 %R#Rx 1: Read range and direction messages.-\direction in FSK: [0.955860,0.129237,0.263873]-Fpublishing direction and range infoy3S h?0lGي?&K?Y̬@ )2IV>i鿉j<=@d{>\@ ܸ>) >Iܸ4 ??ĸ|E"? qQ>)D{I >iܸE2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.E* E*E)E"Ea;*E;VEFA4ZEa@B>BCBIBˁBB =BBDBt;B/Ea@a@a@iA@ @@/@ԑ^A =M 2Acoustic response timeout A= .AIa I O >(c,@i?A2c9@244@2@ٱ2[A :AHRS rotation from veh to nav: [[0.043921,0.981709,0.185252],[-0.997927,0.034381,0.054398],[0.047034,-0.187258,0.981184]]2H|?)j?Z? @b?`ګ??`ǿ@e?i2c9@I2^;2hCYBɁByBIi Mb@Mb@Mb@     9 jt? rhI +?Y  ?y C 94< A \@ A) K@ Y AbD%VD%Ny5=%5F=ٔ5eԙQ->9 ?Y ?=gFy^D E>AQ 5}4EZ+?Q 94E)E^BY ?Q E:ykƿQ I?EDIE]biܸj$Yﳸ?4?Ѷ ?Zu Uc?d/+# ?2i̠:iŕ?"ie􍞊?*izoBi˄Bie􍞊?i,iDDAT read: Rx Time:04:14:29.1378 TRx dataTimestamp_ set to:1761538470.390550PDAT read: Bearing 93.7, 6.4 (Local) ~Local bearing/azimuth received: Bearing 93.7, 6.4 (Local) DAT read: Range 11 to 50 : 5.3 m (trip time 3.5 ms) speed 0.6  DAT read: 04:14:29.1378 LVL= 32752, 27377, 32754, 32755, AGC= 49, IDX= 505, 0.08,-0.533,-2.643,-0.662,-0.766, PHS= 0.335,-1.832, 0.060, RAW= 143.3, 14.0, CAL= 142.8, 15.1, ROT= 7.2, -15.1 Ygot valid direction response: 04:14:29.1378 LVL= 32752, 27377, 32754, 32755, AGC= 49, IDX= 505, 0.08,-0.533,-2.643,-0.662,-0.766, PHS= 0.335,-1.832, 0.060, RAW= 143.3, 14.0, CAL= 142.8, 15.1, ROT= 7.2, -15.1 R#Rx 1: Read range and direction messages.%\direction in FSK: [0.957860,0.121006,0.260505]%Fpublishing direction and range infoy%ɦ?,hi~꿉u=Q @5z>W@ V>)>IV:?K?O c? -F>)zyI>iVm2Acoustic response timeoutmQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.E5 E+E*E"Ek;*E=;VE(N4ZEBE9M"?YM"?=MgFyMfDUEU>yQ 54}+?Q 94})}$^BYyƿQ I?}DI}:i}:}享4yBɮNAPEiii?AJiǨ@RiǨ@ji<@b¬PQ5@ϟUl?&s?R%ɦ?,hbiVj+Uz?Fӕʈy?Z}픂?T|B?2iM:iҋ?"i#LJ?*isBiʄBiiyli˄Bi@ip@E addTargetRange:: Added new target pos. range: 5.300000 m, deltaT: 0.504880 s, deltaX: -0.100000 m, approachRate: -0.198067 m/s, rangeRepo size: 4 } Added new target pos. range: 5.274331 m, bearing: 282.451922 deg, lat: 36.779382 deg, lon: -121.859582 deg, deltaT: 10.581883 s, deltaX: -4.577850 m, approachRate: -0.432612 m/s, posRepo size: 4 jhybhyzIgnoring new targets. Set target to previous: 5.27 m. 9.85 m.RhZh ProNav: ac range: 9.852180 m, nav range: 3.905453 m, bearing: 274.274688 deg, approach rate: 0.000000 m/s, LOS rate: -0.079168 deg/s, cmd heading: 271.757162 deg, new cmd heading: 271.673076 deg. Bh|HeadingCmd: 4.741590 target range: 9.852180 and range: 5.30 m.h@h*h"h hgfffddd jd-@33@Zd5d?HBɢ t) E >i )  iiSſL< DDAT read: Command 'bl' not found bunknown deviceResponse_: Command 'bl' not found "DAT read: Error @unknown deviceResponse_: Error *DAT read: user:121> BDAT read: Tx time:04:14:30.0307 $Ping request sent.B B IB BB =B ADB B t;B /E^Ae <Am >Am ?ԉ A I I O >np,i?A2B%@2 @2poCٱ2]? :AHRS rotation from veh to nav: [[0.041467,0.982044,0.184040],[-0.998001,0.031918,0.054549],[0.047696,-0.185934,0.981404]]2H,;?l?`?@W??k? ǿ g?i2B%@I2>^;2hCYBByFI LLbDN VDN2yVq=%VM=ٔZrߺQ-Z>9XY\=^gFy^nD^ĺE^>`Q 5f4b,?Q 9f4bE)b6^BYhyjƿQ Ij?bDIbr;ib;b4ylɮnApjhbh zIgnoring new targets. Set target to previous: 9.85 m. 9.85 m.Rh0<Zh0< ProNav: ac range: 9.852180 m, nav range: 3.658975 m, bearing: 274.492873 deg, approach rate: -0.653331 m/s, LOS rate: 0.617293 deg/s, cmd heading: 271.673069 deg, new cmd heading: 272.371681 deg. Bh<|HeadingCmd: 4.753783 target range: 9.852180 and range: 5.30 m.h@h*h"h hgfffdddjdZd`z{?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247676颭JBɢֻ) >i)miFivÿ=W5Tw,bi?A:W#@:(@:xBٱ:W> FAHRS rotation from veh to nav: [[0.041234,0.982233,0.183078],[-0.998019,0.031774,0.054308],[0.047526,-0.184955,0.981597]]:H?tn?@o?D?DΫ?VU? ǿ>i?i:W#@I:];:iCYNByNIhi%Mb@Mb@Mb@!!!! !9%x?y&1|9QYQ=]gFy]wD]E]>aQ 5m4e,?Q 9m4e)eL^BYm`?Q Em:ymĿQ Im?e!DIe =ie =eʫ4yqɮ}zAyjhbhzIgnoring new targets. Set target to previous: 9.85 m. 9.85 m.Rh;Zh; ProNav: ac range: 9.852180 m, nav range: 3.380868 m, bearing: 274.696332 deg, approach rate: -0.546876 m/s, LOS rate: 0.432997 deg/s, cmd heading: 272.371688 deg, new cmd heading: 273.032244 deg. Bh<|HeadingCmd: 4.765312 target range: 9.852180 and range: 5.30 m.ho}@h!*h!"h! h)g)f)f)f-kBd1d1d1jd1Zd=? 颽KBɢ,) ȩ>i)-GisiI¿9;Io}@I%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749775B@ @@0@)^A'<I I O >Y [z},ׇi?A Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.002312j%@j@j?ٱj;: vAHRS rotation from veh to nav: [[0.041444,0.982958,0.179100],[-0.998044,0.032332,0.053501],[0.046799,-0.180967,0.982375]]jH)8?`ct?@?э?d??)ǿo?ij%@Ij];hY~By~I=a=bD VD ky>%%N=ٔ%F:Q-%>9)Y)=-gFy-D-. :E->91Q 5E45-?Q 9E45)5_^BYAyMĿQ IM?50DI5+;i5:5Ы4yQɮUAQuB*** querying acoustic contact ***iq iqjhbhzIgnoring new targets. Set target to previous: 9.85 m. 9.85 m.Rh3(<Zh3(<B>BB IBBB =BBBt;B/EBeCE' E-E%E"E _;*EK;VE 4ZEBE<2E<JE`<:E`<BaBaBaBaCe6 ProNav: ac range: 9.852180 m, nav range: 3.147051 m, bearing: 274.894912 deg, approach rate: -0.644694 m/s, LOS rate: 0.588215 deg/s, cmd heading: 273.032250 deg, new cmd heading: 273.672224 deg. Bh<|HeadingCmd: 4.776481 target range: 9.852180 and range: 5.30 m.hؘ@h*h"h hgfffdddjdZd?-LBɢ-p~:)1 >i)߼顱iiIؘ@Ii0ԑUchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.256444@@ @@0@ ^A }U<A fAzA `A1I I!O=>ׅ,bj?AVchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.505769V}#@VN@V >ٱVI7 bAHRS rotation from veh to nav: [[0.041254,0.983525,0.176001],[-0.998072,0.032390,0.052945],[0.046372,-0.177846,0.982965]]VHA? y?@4?4e??? ƿ@st?iV}#@IV|];VjCYj*Byj IE) E*E)E"E`;*E;VEFA4ZEa@a@a@a@iMb@Mb@Mb@ 9/$?~jth/$?Y ?yD<AS@ pA)@YA  AAbD VD y%=%%=ٔ%R:Q-->9)Y)=-gFy-D5E5>9Q 5E4=.?Q 9E4=b )=y^BYE# ?Q EM:yMÿQ IM?=BDI=s:i=:=Hګ4yUӔBɮUIAQjhybhyzIgnoring new targets. Set target to previous: 9.85 m. 9.85 m.Rh<Zh< ProNav: ac range: 9.852180 m, nav range: 2.856529 m, bearing: 275.143790 deg, approach rate: -0.546664 m/s, LOS rate: 0.515930 deg/s, cmd heading: 273.672211 deg, new cmd heading: 274.494720 deg. Bh <|HeadingCmd: 4.790837 target range: 9.852180 and range: 5.30 m.hN@h*h"h hgfffBdddjdZd3@颅NBɢĀ) >i)Cۼ顉i2iGXIN@Im(Iq)qA=A@9 @9@E0@A^A(;IyIO~>]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757625qԙ ,62j?A2d(@25#@2Y:ٱ2d4 :AHRS rotation from veh to nav: [[0.041853,0.983967,0.173367],[-0.998084,0.033261,0.052174],[0.045571,-0.175219,0.983474]]2H`m?`|?0?M`?`?`U?mƿx?i2d(@I2?{];2iCYIBy@ IbD%VD%:y5'>%5]=ٔ=;Q-=>9AYA=EgFyEDE:EE>IQ 5U4Mi/?Q 9U4M)M^BYYyeÿQ Im?MODIM;iM;M4yݔBɮAGYE%9!Y%AjhAbhAMzIgnoring new targets. Set target to previous: 9.85 m. 9.85 m.RhUi<ZhUi<ԙ ProNav: ac range: 9.852180 m, nav range: 2.655102 m, bearing: 275.346200 deg, approach rate: -0.512416 m/s, LOS rate: 0.553980 deg/s, cmd heading: 274.494730 deg, new cmd heading: 275.147997 deg. Bh<|HeadingCmd: 4.802238 target range: 9.852180 and range: 5.30 m.h%@h!*h!"h! h!g!f!fQfQdYdYdYjdaZde@颵PBɢ;)  >i)wؼ项iichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.009799߲I@IAAB>BCBG IBOBB =B@DBBt;B/EbEFA4jE?4rEW0E 3 E E .E "E j;*E VE ـ4ZE BE I I O >,KZOj?Aɰp;YeByb IԱi-Mb@Mb@Mb@)))) )9-K?Mb?Y-^>y--<-A-j@ -A)-C@)Y-AbDAVDAyU=%U%=ٔ]Q-]>9YYY=egFyeDeEe>iQ 5u4m0?Q 9u4m)m^BY}>Q E}:y}ĿQ I}?m_DIm:im3:m^4yBɮAZEjhbhzIgnoring new targets. Set target to previous: 9.85 m. 9.85 m.RhT_<ZhT_<  ProNav: ac range: 9.852180 m, nav range: 2.414983 m, bearing: 275.680269 deg, approach rate: -0.510596 m/s, LOS rate: 0.781001 deg/s, cmd heading: 275.147996 deg, new cmd heading: 276.249709 deg. Bh =|HeadingCmd: 4.821467 target range: 9.852180 and range: 5.30 m.huI@h*h"h hgfffBdd!d!jd!Zd%`T@颍RBɢ'<)  ?i)Լ顙id0"iIuI@IMDDAT read: Rx Time:04:14:32.1645 UTRx dataTimestamp_ set to:1761538473.413202eDAT read: Range 11 to 50 : 3.5 m (trip time 2.3 ms) speed 0.4 mX#Rx 1: Read range message, but no direction.yIYM`@Imchecking for new query: numPingsReceived=1, elapsed TxPingTime=2.519205uP@q @q@u4@y^AUg׻E}@ E})E}'Ey"E}u;*E}0;VE}'4ZEya@a@a@a@IIOe> 9 YЙ,)ij?A2~M@2PH@2%ٱ22- :AHRS rotation from veh to nav: [[0.046383,0.984984,0.166299],[-0.998103,0.038950,0.047686],[0.040492,-0.168195,0.984922]]2H??`HI?u G? Gj?k?kſ`z?i2~M@I2Uw];0Rchecking for new query: numPingsReceived=1, elapsed TxPingTime=2.765553YVwByVx I ^p<^<bDbVDb1yf=%jg=ٔjk9lYl=ngFynDrQ<Er>tQ 5z4v0?Q 9z4v)v^BYxyzĿQ Iz?vjDIv:iv:v4yɮUA addTargetRange:: Added new target pos. range: 3.500000 m, deltaT: 3.022652 s, deltaX: -1.800000 m, approachRate: -0.595504 m/s, rangeRepo size: 4 jhbhzIgnoring new targets. Set target to previous: 9.85 m. 9.85 m.Rhr[<Zhr[<  ProNav: ac range: 9.852180 m, nav range: 2.242984 m, bearing: 275.945314 deg, approach rate: -0.462543 m/s, LOS rate: 0.767422 deg/s, cmd heading: 276.249706 deg, new cmd heading: 277.105749 deg. Bh==|HeadingCmd: 4.836408 target range: 9.852180 and range: 3.50 m.h=Ú@h9*hA"hA hAgAfAfIfIdqdqdyjd} @Zd} ?TBɢw<)1 5?i1)=yм99i=%iE0AEC:IEÚ@IIUG>iU>@@ @@/@I]DDAT read: Rx Time:04:14:32.6642 ]TRx dataTimestamp_ set to:1761538473.916661mPDAT read: Bearing 231.9, -6.6 (Local) m~Local bearing/azimuth received: Bearing 231.9, -6.6 (Local) qDAT read: Range 11 to 50 : 3.0 m (trip time 2.0 ms) speed 0.4 DAT read: 04:14:32.6642 LVL= 19920, 14545, 18802, 21667, AGC= 46, IDX= 506,-0.28,-0.749, 1.241,-0.599, 0.696, PHS=-1.342, 0.590,-1.339, RAW= 329.9, 21.0, CAL= 329.6, 25.7, ROT= 180.4, -25.7 Ygot valid direction response: 04:14:32.6642 LVL= 19920, 14545, 18802, 21667, AGC= 46, IDX= 506,-0.28,-0.749, 1.241,-0.599, 0.696, PHS=-1.342, 0.590,-1.339, RAW= 329.9, 21.0, CAL= 329.6, 25.7, ROT= 180.4, -25.7 R#Rx 2: Read range and direction messages.B1 B1 B5 IB5 BB5 =B1 B1 B5 t;B5 /E] `direction in FSK: [-0.901055,-0.006291,0.433659]] Fpublishing direction and range infoyY]^(kqӏrW#yx1?Y]@@E + E E %E "E b;*E O:VE 4ZE BE ]X@ ]L>)],1j?A2f@2Va@27ٱ2B) :AHRS rotation from veh to nav: [[0.049437,0.985470,0.162497],[-0.998062,0.042589,0.045363],[0.037783,-0.164425,0.985666]]2H@O???` 7Υ?9?YX? ſ?i2f@I2];2eCYBByB IbDNVDNyv=%vI=ٔv;Q-v>9xYx=zgFyzD~;E>!Q 5-4%c1?Q 9-4%")%^BY)y-ÿQ I-?%wDI%-:i%g:%4yYɮ]AYiizj?AJi?@Ri?@ji|P?b-GR0;$E ?R^(kqӏrW#yx1?ZiyHbiLj0~> &?=Q J@՜TZ?ZV[2?vf? I`>?2i/@:i0q="i\Y6?*ihҪBiBiiiBi@@i@ addTargetRange:: Added new target pos. range: 3.000000 m, deltaT: 0.503459 s, deltaX: -0.500000 m, approachRate: -0.993130 m/s, rangeRepo size: 4  Added new target pos. range: 2.985498 m, bearing: 88.770137 deg, lat: 36.779382 deg, lon: -121.859582 deg, deltaT: 14.107994 s, deltaX: -6.866682 m, approachRate: -0.486723 m/s, posRepo size: 4 jhbhBIntercept lockout. Range: 3.00 m.bTransitioning guidance mode to: INTERCEPT_LOCKOUT:h%@h!h!*h!"h! h!g!f!f)f)d)d)d1jdU@ZdUs?q额VBɢ<) +?i)̼顩if'i0[<j)IIchecking for new query: numPingsReceived=2, elapsed TxPingTime=3.273313UA@Y @Y@a@a^AmԩAyIIO>m DDAT read: Rx Time:04:14:33.1641 m TRx dataTimestamp_ set to:1761538474.420935u PDAT read: Bearing 229.3, -15.5 (Local) } ~Local bearing/azimuth received: Bearing 229.3, -15.5 (Local)  DAT read: Range 11 to 50 : 2.9 m (trip time 1.9 ms) speed 0.4  DAT read: 04:14:33.1641 LVL= 16944, 10417, 13298, 26579, AGC= 42, IDX= 505,-0.01,-2.049, 0.073,-1.520,-0.323, PHS=-1.624, 0.441,-1.241, RAW= 320.0, 24.3, CAL= 319.6, 29.3, ROT= 190.4, -29.3  Ygot valid direction response: 04:14:33.1641 LVL= 16944, 10417, 13298, 26579, AGC= 42, IDX= 505,-0.01,-2.049, 0.073,-1.520,-0.323, PHS=-1.624, 0.441,-1.241, RAW= 320.0, 24.3, CAL= 319.6, 29.3, ROT= 190.4, -29.3  R#Rx 3: Read range and direction messages. `direction in FSK: [-0.857742,-0.157425,0.489382] Fpublishing direction and range infoyi m /`r^&Ŀ6Z R?Ym 9@i m 0Bm (m 3 m g)m *Im ;Ͽim >m ٞm ¸@m %>m @ m ?)m ȭT@Im i i m ljӿH? m 2)m ؾIm q=im i i % checking for new query: numPingsReceived=3, elapsed TxPingTime=3.546438,j?AE"2 E"2E"(E "E"i;*E";VE"c44ZE a&@a&@a&@a*@>@>[@>ٱ>}" FAHRS rotation from veh to nav: [[0.053466,0.986316,0.155959],[-0.997967,0.047353,0.042651],[0.034682,-0.157922,0.986842]]>H@_?? s?X>?R֥??6Ŀ6?i>@I>j];>fCY=By= I AAiMb@Mb@Mb@ 9}?5^I?y&1~jt?YM>y`弙<S@ pA)Z@YzAbDVDy Dv=% ,=ٔY;Q->9Y=gFyD0 <E>!Q 5M4%`1?Q 9M4%D()%^BYU>Q EU:yU!ɿQ IU?%DI%;i%;%4yYɮ][Aaiij?AJi8@Ri8@jiO?b_ѭMFݿK?R/`r^&Ŀ6Z R?Ziq=bij_` ׿< @1%L?Z ^󿿥,C?p8,x?2i @:ik"i\?*iEEBiYBi#LJ?i,< "IIC@ @@@checking for new query: numPingsReceived=3, elapsed TxPingTime=3.775466) ^A X;Y A I1 II O] >7,j?A>@>@>epٱ> FAHRS rotation from veh to nav: [[0.058735,0.987331,0.147406],[-0.997787,0.053452,0.039557],[0.031176,-0.149403,0.988285]]>H`?@6?2?@^?`@??ÿ?i>@I>1];>hCYNByN ITTbDZVDZJyb[=%ba=ٔb9dYd=fgFyfDjm<Ej>lQ 5r4no1?Q 9v4n~,)n^BYtyvȿQ Iv?nDIn";in#;nM4yxɮz A| DDAT read: Rx Time:04:14:33.6640 TRx dataTimestamp_ set to:1761538474.924360DAT read: Range 11 to 50 : 2.7 m (trip time 1.8 ms) speed 0.3 X#Rx 4: Read range message, but no direction.y Y ,@ %checking for new query: numPingsReceived=4, elapsed TxPingTime=4.029147=B*** querying acoustic contact ***i9 i9B<A<B>BCB IBBB =BADBBt;B/E addTargetRange:: Added new target pos. range: 2.700000 m, deltaT: 0.503425 s, deltaX: -0.200000 m, approachRate: -0.397279 m/s, rangeRepo size: 4 jhbhhh*h"h hgf!EE/ EEEE+EA"EEaf;*EE:VEE [4ZEABEEηychecking for new query: numPingsReceived=4, elapsed TxPingTime=4.277782ԡ s,Cj?A:@:@:߼ٱ:8 JAHRS rotation from veh to nav: [[0.065942,0.988329,0.137322],[-0.997450,0.061523,0.036182],[0.027311,-0.139358,0.989865]]:H ? d?Ǔ?`?`w??@| ?i:@I:У];:fCYRByR Ii-Mb@Mb@Mb@)))) )9-"~?X9vQ?Y->y--u<-A-@ ))))Y-AbDMVDMfy]pV=%]B=ٔ]9aYa=egFyeDe<Em>iQ 5}4mc1?Q 9}4m1)m^BY}>Q E}:y}tɿQ I}?mDIm? ;im ;m 4yBɮAdEjhbhhh*h"h hgfff'BdddjdZd5?\Bɢl<) '?i)x׿i`0i0ƿ<H[II ԑ-DDAT read: Rx Time:04:14:34.1638 5TRx dataTimestamp_ set to:1761538475.428250=DAT read: Range 11 to 50 : 2.4 m (trip time 1.6 ms) speed 0.3 =X#Rx 5: Read range message, but no direction.y)Y-@)Echecking for new query: numPingsReceived=5, elapsed TxPingTime=4.533065MA@I @I@M0@I@U=@U=Ee+ Ee+Ee*Ea"Eeb;*Ee=;VEe(N4ZEaam@am@am@am@Թ^Am;I I O >i I A checking for new query: numPingsReceived=5, elapsed TxPingTime=4.781896 T,|j?AF.@F(@FiٱF4L VAHRS rotation from veh to nav: [[0.073757,0.989187,0.126764],[-0.996998,0.070137,0.032794],[0.023549,-0.128802,0.991391]]FH`?@k?9?h ?oʠ?;?@|x?iF.@IF];FhCY\y`IfC=)f=bDEVDE1yU; ;%UK=ٔ]9YYa=egFyeDe<Ee>iQ 5u4mr1?Q 9u4mx5)m_BYyy}ȿQ I}?mDIm;im;m4yɮA addTargetRange:: Added new target pos. range: 2.400000 m, deltaT: 0.503890 s, deltaX: -0.300000 m, approachRate: -0.595368 m/s, rangeRepo size: 4 jhbhhh*h"h hgfffdddjd@33@Zd?^BɢC<)  '?i) Z  i u2i0K<DzIIF@ @@3@^A!IIOf>EDDAT read: Rx Time:04:14:34.6636 ETRx dataTimestamp_ set to:1761538475.932714UPDAT read: Bearing 214.9, -9.7 (Local) U~Local bearing/azimuth received: Bearing 214.9, -9.7 (Local) eDAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.2 DAT read: 04:14:34.6636 LVL= 18736, 14241, 16978, 23187, AGC= 44, IDX= 500,-0.19, 0.026, 1.549, 0.293, 1.722, PHS=-1.594,-0.129,-1.473, RAW= 325.7, 38.7, CAL= 325.4, 43.8, ROT= 184.6, -43.8 Ygot valid direction response: 04:14:34.6636 LVL= 18736, 14241, 16978, 23187, AGC= 44, IDX= 500,-0.19, 0.026, 1.549, 0.293, 1.722, PHS=-1.594,-0.129,-1.473, RAW= 325.7, 38.7, CAL= 325.4, 43.8, ROT= 184.6, -43.8 R#Rx 6: Read range and direction messages.`direction in FSK: [-0.719435,-0.057884,0.692143]Fpublishing direction and range infoyAE/ReʺYf &?YEf@AE0IE7ERB EZ)E,IE1̿iEEDE@E,?Eּ@ EEC?)E?3N@IEECAAE|濧O琬տ'>q? EZQ,)Ex-IEvCiEECAAchecking for new query: numPingsReceived=6, elapsed TxPingTime=5.049889BBB IBĂBB =BBBt;B/EEu Eu)Eu'Eq"EuV;*Eu0;VEu'4ZEqBEu|AHRS rotation from veh to nav: [[0.082084,0.989628,0.117894],[-0.996425,0.079118,0.029637],[0.020002,-0.119905,0.992584]]2H{??J.? A? Y?b{?@??i2fr@I2];2fCYNByR I V49)Y)=-gFy-D5$<E5>9Q 5E4=1?Q 9E4=9)=_BYAyE~ǿQ IM?=DI=:i=:=4yQɮU5AQiqiuj?AJiu@Riu@jiu ?buCpOYQ$?Ru/ReʺYf &?ZiuvCbiuECjutЕ, ?Ǎ?ZuBPɡmjs?XS?2iu?:iu"iuW+?*iubBiu|Biu\Y6?iubiqiu'?iuZ_? addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.504464 s, deltaX: -0.300000 m, approachRate: -0.594691 m/s, rangeRepo size: 4  Added new target pos. range: 2.089825 m, bearing: 92.714137 deg, lat: 36.779372 deg, lon: -121.859543 deg, deltaT: 1.511779 s, deltaX: -0.796157 m, approachRate: -0.526636 m/s, posRepo size: 4 jhbhhh*h"h hgfffdddjd@Zd?aBɢ<) ["?i)xRie4i 0 ؇< YwI Ichecking for new query: numPingsReceived=6, elapsed TxPingTime=5.286392QN@ @@4@ԁ^AGIAIYOm>Ա M DDAT read: Rx Time:04:14:35.1637 U TRx dataTimestamp_ set to:1761538476.436687] PDAT read: Bearing 233.6, -18.8 (Local) ] ~Local bearing/azimuth received: Bearing 233.6, -18.8 (Local) m DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.2  DAT read: 04:14:35.1637 LVL= 30768, 17985, 21666, 21379, AGC= 50, IDX= 500, 0.19,-1.334, 0.962,-0.566, 0.441, PHS=-1.673, 0.566,-1.051, RAW= 314.4, 20.9, CAL= 313.8, 26.0, ROT= 196.2, -26.0  Ygot valid direction response: 04:14:35.1637 LVL= 30768, 17985, 21666, 21379, AGC= 50, IDX= 500, 0.19,-1.334, 0.962,-0.566, 0.441, PHS=-1.673, 0.566,-1.051, RAW= 314.4, 20.9, CAL= 313.8, 26.0, ROT= 196.2, -26.0  R#Rx 7: Read range and direction messages. `direction in FSK: [-0.863106,-0.250756,0.438371] Fpublishing direction and range infoyQ U oҥT` п3E?YU 3@Q U 0xU AFU T U S)U 2IU $ֿiU `?U +U @U ú>U LB@ U V>)U R([@IU V辩Q Q U 쿙əͿk{ ? U 8)U DpIU c6iU V辩Q Q  checking for new query: numPingsReceived=7, elapsed TxPingTime=5.553508E / E E E "E af;*E :VE ZE a @a @a @a @f,{3 k?A2@2U@2 ٱ2B :AHRS rotation from veh to nav: [[0.089886,0.989778,0.110730],[-0.995812,0.087448,0.026684],[0.016728,-0.112664,0.993492]]2H@?A?X?@ c?S?.!?`׼@?i2@I2];2gC@YByi%Mb@Mb@Mb@!!!! !9%|?5^?/$Mb?Y%>y%,%<%Q A%@ %@)%p@!Y%AbD]VD]kyv:%3=ٔ;Q->9Y=gFyDd<E>Q 54z1?Q 94>)_BY>Q E;y1ʿQ I?DIq:iz:"4y)ɮ-1A1iik?AJi|@Ri|@jiAs?b1 a%]rO ?RoҥT` п3E?Zic6biVjzJ0N)?<یt?Z5,ѿ휹$-?C?2i?:iq""i i?*i۰ BiBiW+?i۰ ii?iǺ? addTargetRange:: Added new target pos. range: 2.300000 m, deltaT: 0.503973 s, deltaX: 0.200000 m, approachRate: 0.396847 m/s, rangeRepo size: 4 ԩ Added new target pos. range: 2.288856 m, bearing: 108.078736 deg, lat: 36.779371 deg, lon: -121.859541 deg, deltaT: 0.503973 s, deltaX: 0.199031 m, approachRate: 0.394924 m/s, posRepo size: 4 jhbhhh*h"h hgfff Bdddjd`ff@Zd`ka?cBɢ^ɚ<) ,!?i)zi6i0<IIchecking for new query: numPingsReceived=7, elapsed TxPingTime=5.790589}K@y @@4@@hA@hA^A]IIO> ,A:k?A2@2@2bٱ2P :AHRS rotation from veh to nav: [[0.097824,0.989364,0.107654],[-0.995107,0.095736,0.024409],[0.013843,-0.109515,0.993889]]2H  ?ި?3?`+??Y? , ?i2@I2>];2fCYNByR I TTV=V= DDAT read: Rx Time:04:14:35.6635  TRx dataTimestamp_ set to:1761538476.940713PDAT read: Bearing 194.8, 11.7 (Local) ~Local bearing/azimuth received: Bearing 194.8, 11.7 (Local) -DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.1 MDAT read: 04:14:35.6635 LVL= 32752, 18033, 18546, 26035, AGC= 49, IDX= 498, 0.11, 2.526, 2.981, 2.023,-2.515, PHS=-1.140,-0.742,-1.789, RAW= 7.9, 54.8, CAL= 6.8, 58.5, ROT= 143.2, -58.5 UYgot valid direction response: 04:14:35.6635 LVL= 32752, 18033, 18546, 26035, AGC= 49, IDX= 498, 0.11, 2.526, 2.981, 2.023,-2.515, PHS=-1.140,-0.742,-1.789, RAW= 7.9, 54.8, CAL= 6.8, 58.5, ROT= 143.2, -58.5 ]R#Rx 8: Read range and direction messages.e^direction in FSK: [-0.418381,0.312989,0.852640]eFpublishing direction and range infoy  _ڿb?$H?Y @   qF rH e) 1I 둿i = 俩 0 > Gt? = ?) @I    ҳ_˿KBBBBBBBt;B/EBABECBABE =BE =CE I5 ]z) tI @i   checking for new query: numPingsReceived=8, elapsed TxPingTime=6.062157ԩEE' EEEE(EA"EE _;*EE]:VEEc44ZEABEE9iYi=mgFymDm<E>Q 54v1?Q 949C)_BY y .ɿQ I ?DI:i:)4yɮAi i 4YX#?7S&?R _ڿb?$H?Zi @bi j nR`$?^?_Nѵ?Z t~?]iI8i0'<,II@ @@u4@9checking for new query: numPingsReceived=8, elapsed TxPingTime=6.293722i ^A pA >A >I I O >$,Sk?A>\1@>.,@>3ٱ>׽ FAHRS rotation from veh to nav: [[0.105302,0.989059,0.103317],[-0.994380,0.103579,0.021917],[0.010976,-0.105044,0.994407]]>H?`^?r?`(?`oq?{z?@/亿.?i>\1@I>];>gCYNByR Ii%Mb@Mb@Mb@!!!! !9%S?l/$?Y%>y%%<%; A%@ %@)%b@!Y%@999bDEVDE1yU%U]=ٔUX;Q-]>9YYY=egFyeDe{<Ee>iQ 5u4m1?Q 9u4miF)m)_BY}t>Q E};y}xȿQ I}?mDIm ;im ;m/4yɮ"AeB*** querying acoustic contact ***ia iajhbhhh*h"h hgfffBdddjdZd ?hBɢ3<) ?i!)%!!i%B:i-0-m  checking for new query: numPingsReceived=9, elapsed TxPingTime=6.798243,;mk?AYruByru IbDzVDzfy% O=ٔ Q- >9 Y=gFyDE>Q 5%41?Q 9%4I)5_BY)y)Q I-?DI :i:64y1ɮ5A9e addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.504721 s, deltaX: 0.100000 m, approachRate: 0.198129 m/s, rangeRepo size: 4 jhmmTStarting intercept timer at range: 2.10 m.bhihihi*hi"hq hqgqfqfyfdddjd@Zds?ԙ颽kBɢ ƒ<) ?i)d ik;i05<;IIi@q @q@u/@q@}=@}= %:G9Q9YDmADDAT read: Rx Time:04:14:36.6633 %TRx dataTimestamp_ set to:1761538477.948325-DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.2 5Z#Rx 10: Read range message, but no direction.y!Y%?!=checking for new query: numPingsReceived=10, elapsed TxPingTime=7.053145B>BCB IBBB =BBDBt;B/E^Ayb]bEc44jEc44rEDz/EU, EUEU)EQ"EUc;*EU:VEUFA4ZEQBEUt ,Mk?A6w@6I@6߹Ȼٱ6ڽ BAHRS rotation from veh to nav: [[0.118177,0.987406,0.105186],[-0.992974,0.116857,0.018652],[0.006126,-0.106652,0.994278]]6H@?Ә?}?pQ??1y?M@?i6w@I6];6hCY^fBy^c IIb4=)b;ddbDjVDjkyr%rL=ٔvF9v ?Yv ?=vgFyzDz=Ez>|Q 54~1?Q 94~M)~@_BY y ƿQ I ?~DI~|:i~R:~=4yɮ-AE addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.502891 s, deltaX: -0.400000 m, approachRate: -0.795401 m/s, rangeRepo size: 4 jhAbhIhIhI*hI"hI hIgIfQfQfQdQdYdYjd]@33?Zd]?颍mBɢ)e<) >i)᤼顑iԩ- DDAT read: Rx Time:04:14:37.1634 - TRx dataTimestamp_ set to:1761538478.452205= DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 = Z#Rx 11: Read range message, but no direction.y) Y- f?) E checking for new query: numPingsReceived=11, elapsed TxPingTime=7.556997DY zDY Ea  Ee 'Ee &Ea "Ea *Ee ";VEe 4ZEa am @am @am @am @ b,zk?A2<@26@2s_ٱ2ý :AHRS rotation from veh to nav: [[0.137618,0.986004,0.094120],[-0.990480,0.136667,0.016510],[0.003416,-0.095496,0.995424]]2Hu?@W?;?  J~?? k?hr`?i2<@I2/];2fCY^WBy^Q Ii}Mb@Mb@Mb@yyyy y9}Zd;?lMbY}>yy}}A}@ }C@)}C@yY}z@ bDVD1y%?=ٔ^;Q->9Y=gFyDz;=E>Q 542?Q 94S);_BY>Q E:ynQ I?DIL:ia:IE4yBɮAmE addTargetRange:: Added new target pos. range: 1.800000 m, deltaT: 0.503880 s, deltaX: 0.100000 m, approachRate: 0.198460 m/s, rangeRepo size: 4 jh RStopped intercept timer at range: 1.80 m.bh h h *h "h  h gfffBdddjd%?Zd%,?MpBɢU %0<)Q U >iQ)]gYYi]w=ie0eUQ ',^k?A2|@2N~@2:ٱ2 :AHRS rotation from veh to nav: [[0.177090,0.980897,0.080494],[-0.984194,0.176623,0.012945],[-0.001519,-0.081515,0.996671]]2H?c?`G?`~ ? ? X"޴?i2|@I2V ^;2gCYBKByBA IbDJ VDJf2yR%R\=ٔV>Y9TYT=ZgFyZDZ=EZ>\Q 5b4^Z4?Q 9b4^W)^6_BYdyfDQ If?^DI^N:i^:^K4yhrDDAT read: Rx Time:04:14:37.6634 rTRx dataTimestamp_ set to:1761538478.956408vDAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 zZ#Rx 12: Read range message, but no direction.ypYpp~checking for new query: numPingsReceived=12, elapsed TxPingTime=8.061221ɮjZAB%>B!B% IB%}BB!B!B!B%t;B%/EM addTargetRange:: Added new target pos. range: 1.800000 m, deltaT: 0.504203 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 jhMUTStarting intercept timer at range: 1.80 m.bhQhQhQ*hY"hY hYgYfYfafadadadajdiZdm@ e?E7 E"E+E"Em;*E;VE [4ZEBEi1)=99i= =iE0Eq checking for new query: numPingsReceived=12, elapsed TxPingTime=8.309612ԁ ',@k?A,R@R~@Ry<ٱRa\ ZAHRS rotation from veh to nav: [[0.223385,0.972639,0.063820],[-0.974696,0.223445,0.006279],[-0.008153,-0.063608,0.997942]]RH@ޗ??`V? 0 ڙ?y?H`#?iR@IRm];RhCYb-Byb I ddiMb@Mb@Mb@ 9+?A`"?:vYv>yY=ԼVA@ )p@YbDVDkyMD%M2=ٔUl9QYY=]gFy]D]=E]>aQ 5u4e:?Q 9u4e])e&_BYu ?Q Eu:yuQ I}?eDIeG);ie\(;eS4yɮEAB*** querying acoustic contact ***i ijhRStopped intercept timer at range: 1.80 m.bhhh*h"h hgfff[BdddjdZd`Y?uBɢ@v;).% շ>i)4ki=i0x< =I I ԁDDAT read: Rx Time:04:14:38.1633 TRx dataTimestamp_ set to:1761538479.461794 PDAT read: Bearing 126.1, 38.4 (Local) ~Local bearing/azimuth received: Bearing 126.1, 38.4 (Local) -DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 ]DAT read: 04:14:38.1633 LVL= 28480, 32753, 32754, 32755, AGC= 50, IDX= 514,-0.28,-2.859, 1.791, 2.259, 3.126, PHS= 0.400,-1.290,-0.911, RAW= 102.3, 22.5, CAL= 102.2, 27.5, ROT= 47.8, -27.5 mYgot valid direction response: 04:14:38.1633 LVL= 28480, 32753, 32754, 32755, AGC= 50, IDX= 514,-0.28,-2.859, 1.791, 2.259, 3.126, PHS= 0.400,-1.290,-0.911, RAW= 102.3, 22.5, CAL= 102.2, 27.5, ROT= 47.8, -27.5 mT#Rx 13: Read range and direction messages.u\direction in FSK: [0.595823,0.657102,0.461749]uFpublishing direction and range infoy[T?%?J?Y?@o@ @@" @ )2I>iL7iX?>&Q?  >)U?I Z*?7%ѿO? ҝ)16ɾIU?i E-< E-6E-'E)"E-,r;*E- ;VE-'4ZE)a5@a5@a5@a5@echecking for new query: numPingsReceived=13, elapsed TxPingTime=8.609609Ա^A< A I I O > checking for new query: numPingsReceived=13, elapsed TxPingTime=8.814149t7, k?A2B@2=@2 @<ٱ2#> :AHRS rotation from veh to nav: [[0.260804,0.964205,0.047861],[-0.965320,0.261068,0.000765],[-0.011758,-0.046401,0.998854]]2H??D? `U?I? ]?i2B@I2:^;2dCYBByB IHH\bDNVDNβy% b=ٔ #9 Y=gFyD=E>1Q 5U45@?Q 9e45b)5_BYiymQ Iu?5DI5i))5G11i5S=i=0= Y<= >I9IES{A!@! @!@%` @)^A=DDAT read: Rx Time:04:14:38.6633 TRx dataTimestamp_ set to:1761538479.964248 DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 Z#Rx 14: Read range message, but no direction.yB%>B!B%A IB%JBB!B!B!B%Yt;B%r/EY=checking for new query: numPingsReceived=14, elapsed TxPingTime=9.073720E=6 E=-E=)E9"E=l;*E=K;VE=FA4ZE9BE=JA J,l?A6C9@64@6^<ٱ6B; >AHRS rotation from veh to nav: [[0.289726,0.956590,0.031538],[-0.957013,0.290008,-0.004666],[-0.013610,-0.028830,0.999492]]6Hߊ?@b?@%?`ٟ}?s@hߋ?i6C9@I6s^;6fCYFByFIbDNVDN3yV8%VP=ٔZ;Q-Z>9XYX=^gFy^&D^=E^>`Q 5f4brF?Q 9f4bf)b _BYhyjQ Ij?bDIbd:ib:b`4ylɮnAp  addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.502454 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 jh2hbhhh*h"h h2hg!f!f!f!d)d)d)jd)Zd-E?]zBɢ]@܂;)Y ]Q>ia)e݆aaieIiIq }&Changing to mode: 1echecking for new query: numPingsReceived=14, elapsed TxPingTime=9.318269ԡ @ @@ @@==@==^A%Ǥ=I9IIOU> DDAT read: Rx Time:04:14:39.1634  TRx dataTimestamp_ set to:1761538480.468279 DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 % Z#Rx 15: Read range message, but no direction.y Y f? - checking for new query: numPingsReceived=15, elapsed TxPingTime=9.573123 EE * EE !EE (EA "EE a;*EE :VEE c44ZEA aM @aM @aM @aM @[I,"l?A2j@2<@2cv<ٱ2 :AHRS rotation from veh to nav: [[0.313477,0.949570,0.007048],[-0.949477,0.313546,-0.013518],[-0.015046,-0.002454,0.999884]]2H ?b?`1|?b %?v Ўd@ ?i2j@I21F`;0Y^BybIIb<)bp=i}Mb@Mb@Mb@yyyy y9}x&1?Mb?y&1|Y}>y}=}`}A}b@ }@)}@yY}@bDVD1y{%;=ٔ X;Q->9Y=gFy/D5j=ԹE>Q 54N?Q 94j)_BYv>Q E;y Q I?)DI:i:h4yɮtA  addTargetRange:: Added new target pos. range: 1.800000 m, deltaT: 0.504031 s, deltaX: 0.100000 m, approachRate: 0.198400 m/s, rangeRepo size: 4 jh 2hbhhh*h"h h2hgff!f%Bd!d!d!jd-?Zd-?U|BɢU%)Y ]0>iY)]YYi]_IiIimchecking for new query: numPingsReceived=15, elapsed TxPingTime=9.822260 U}@Q @Q@U @Q9 ^Au S-= DDAT read: Rx Time:04:14:39.6633  TRx dataTimestamp_ set to:1761538480.972230- DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 - Z#Rx 16: Read range message, but no direction.y Y ? 5 checking for new query: numPingsReceived=16, elapsed TxPingTime=10.077131AA AA BM >BI BM IBM BBI BI BI BM t;BM U/EEU! EU,EQEQ"EUY;*EU;VEQZEQBEU֬R,mXAl?Abš@b@b({<ٱbu< ~AHRS rotation from veh to nav: [[0.335344,0.941907,-0.018864],[-0.941971,0.334907,-0.022972],[-0.015320,0.025472,0.999558]]bHGv?$?P$o?酗_m?`a?ibš@Ibic;bgCY By I 9=p;bDUVDUk2y %,=ٔ:Q->9Y=gFy9D G=E>Q 54V?Q 94n)_BYy|Q I?5DI$:i=: q4y%Bɮ%A-nE} addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.503951 s, deltaX: -0.100000 m, approachRate: -0.198432 m/s, rangeRepo size: 4 jh}2hybhyhyhy*h"h h2hgfffdddjd@33?Zd@?颽BɢP) j>i)ci:i0_<#H>IIMchecking for new query: numPingsReceived=16, elapsed TxPingTime=10.328520Y&$@ @@ @^A U=ԉ I I O >t,[l?A06@6@6 =V<ٱ6o= >AHRS rotation from veh to nav: [[0.359263,0.932878,-0.025843],[-0.933145,0.358702,-0.023953],[-0.013076,0.032721,0.999379]]6H`+?#?v@R ?BoNJ??i6@I6c;6fCYFByFIiMb@Mb@Mb@ 9B`"?y&1|?y&1|Yَ>y`;p@@ @)ZAY@bD-VD-ܲDDAT read: Rx Time:04:14:40.1634 TRx dataTimestamp_ set to:1761538481.476336DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 Z#Rx 17: Read range message, but no direction.yYf?checking for new query: numPingsReceived=17, elapsed TxPingTime=10.581145y즽%C=ٔQ->9!Y!=%gFy%AD%_y=E->)Q 5}4-Z?Q 9}4-lq)-^BY}>Q E}>;y}Q I}?-=DI-(iԉ)顩i(9i0l<L^>IIԹ!@ @@ @@gA@fAU checking for new query: numPingsReceived=17, elapsed TxPingTime=10.829744^A R5#> II IY Om >,tl?AV鍜@V@VF <\ٱV< bAHRS rotation from veh to nav: [[0.387609,0.921735,-0.012849],[-0.921783,0.387423,-0.014799],[-0.008663,0.017580,0.999808]]VH ?`~?RP??@ O@s? m?iV鍜@IVcb;VeCYjBynI llbDzVDz1y=%\=ٔ%AQ-%>9)Y)=5gFy5ID==E=>IQ 5]4M1^?Q 9e4Ms)M^BYaymؒQ Im?MDDIMv;iMw;M~4yyɮ}Ayjh2hbhhh*hi"hi hi2higqfqfqfqdydydyjdyZd}`R?Bɢ0޺) ~d>i)in9i0Gd<x>II/#@ @@ @DDAT read: Rx Time:04:14:40.6633 TRx dataTimestamp_ set to:1761538481.982494PDAT read: Bearing 145.8, 39.8 (Local) ~Local bearing/azimuth received: Bearing 145.8, 39.8 (Local) DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 DAT read: 04:14:40.6633 LVL= 25584, 32753, 31874, 32755, AGC= 47, IDX= 513,-0.48,-0.642,-2.340,-1.940,-0.768, PHS= 0.228,-1.527,-1.217, RAW= 99.5, 28.7, CAL= 98.0, 35.6, ROT= 52.0, -35.6 Ygot valid direction response: 04:14:40.6633 LVL= 25584, 32753, 31874, 32755, AGC= 47, IDX= 513,-0.48,-0.642,-2.340,-1.940,-0.768, PHS= 0.228,-1.527,-1.217, RAW= 99.5, 28.7, CAL= 98.0, 35.6, ROT= 52.0, -35.6 T#Rx 18: Read range and direction messages.E\direction in FSK: [0.500595,0.640732,0.582123]EFpublishing direction and range infoyv?l÷?%I?Y?c| )/Ixi>itÿƛH?;?!? ?)Vh?I^A]y 1>Bm>BiBmIBm߁BBiBiBiBms;Bm2/EBMCBMCBIBM =BM =CM)4qSI?}Fӿ?c)? ;)dIVh?ichecking for new query: numPingsReceived=18, elapsed TxPingTime=11.112138E! EE)E"EY;*E:VEFA4ZEBEa2EaJE(P9 U checking for new query: numPingsReceived=18, elapsed TxPingTime=11.333707Q#,l?AYByI!%@AbDVD1y<%<=ٔQ- >9 Y = gFy QDE>Q 554[b?Q 9=4v)^BYIyIQ IU?KDI,;i;R4yqɮ}TAyii/~l?AJiRiji)*@bW9{?\W?׋b?Rv?l÷?%I?ZiVh?bij ?W:ؿ?ZgFyU?-Ξd̿%D?2i!:iH?"ik$ў?*iɽBiBiB"m?i*iBiA9@i?Am addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.506158 s, deltaX: -0.100000 m, approachRate: -0.197567 m/s, rangeRepo size: 4  Added new target pos. range: 1.691718 m, bearing: 344.069561 deg, lat: 36.779378 deg, lon: -121.859554 deg, deltaT: 2.520700 s, deltaX: -0.000015 m, approachRate: -0.000006 m/s, posRepo size: 4 jh2hbhhh*h"h h2hgfffdddjd@33?ZdX?]Bɢ]$B)Y ek>ia)eiڏaaieE8im0mǣIiIq&@ @@ @iDDAT read: Rx Time:04:14:41.1634 TRx dataTimestamp_ set to:1761538482.485359DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 Z#Rx 19: Read range message, but no direction.yYf?checking for new query: numPingsReceived=19, elapsed TxPingTime=11.590373D?AzD?AE/ E$E+E"Eaf;*E;VE [4ZEa@a@a@a@ԑ ^A mC2>A އAI I! O- >#*,Il?A2:@2 @2#oٱ2z< :AHRS rotation from veh to nav: [[0.455113,0.890150,-0.022465],[-0.890314,0.455321,0.004933],[0.014620,0.017756,0.999735]]2H@ ?|? s}#?#5t?>?.?@?i2:@I2e`;2hCYBByBIHiMb@Mb@Mb@ 9?~jt?y&1|YL>yD=-@@ @)p@Y@bDVD02y*=%@=ٔ_Q->9d ?Yd ?=gFyYD2>E>Q 54,g?Q 94x)^BYR>Q E;y\Q I?QDI3:i:Ǎ4y ɮ  A5checking for new query: numPingsReceived=19, elapsed TxPingTime=11.837946M addTargetRange:: Added new target pos. range: 1.800000 m, deltaT: 0.502865 s, deltaX: 0.100000 m, approachRate: 0.198860 m/s, rangeRepo size: 4 jhU2hQbhQhQhQ*hQ"hQ hQ2hQgYfYfYf]Bdadadajde?Zdm,{?颕Bɢ,:) {>i)x顙if9i0% >I!I)ma(@q @@UG(hA%9%(hAY%*A@^A  <>A= 4AII IY Oe > DDAT read: Rx Time:04:14:41.6633  TRx dataTimestamp_ set to:1761538482.988652 PDAT read: Bearing 164.3, 49.9 (Local)  ~Local bearing/azimuth received: Bearing 164.3, 49.9 (Local)  DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0  5 DAT read: 04:14:41.6633 LVL= 31520, 32753, 32754, 32755, AGC= 48, IDX= 513, 0.16, 1.492,-0.107,-0.195, 1.280, PHS= 0.314,-1.342,-1.519, RAW= 85.0, 27.2, CAL= 83.0, 34.9, ROT= 67.0, -34.9 = Ygot valid direction response: 04:14:41.6633 LVL= 31520, 32753, 32754, 32755, AGC= 48, IDX= 513, 0.16, 1.492,-0.107,-0.195, 1.280, PHS= 0.314,-1.342,-1.519, RAW= 85.0, 27.2, CAL= 83.0, 34.9, ROT= 67.0, -34.9 = T#Rx 20: Read range and direction messages.E \direction in FSK: [0.320459,0.754954,0.572146]E Fpublishing direction and range infoy  fͮe?)Ҕ(?O?Y ? {  ) 0I Ġ>i ƫ n¿ N? > }l? I?) ?I I QBm)N?N9KAT,)AgYD? ]z) -I ?i I e checking for new query: numPingsReceived=20, elapsed TxPingTime=12.106087B A <B >B CB B B B B B s;B */EbEFA4jEmF4rEL0E < E 6E -E "E ,r;*E  ;VE t4ZE BE 9-?Y-?=-gFy-_D5=E5>9Q 5E4=k?Q 9E4=z)9YAyEQQ IE?=VDI=:i=:=g4yQɮUAQi!i%Fl?AJi!Ri!ji%x >b%fxY? QEo?\?R%fͮe?)Ҕ(?O?Zi%?bi%Ij%wXm?G?k=?Z%c1?~L ?Wi&?2i%=>:i%C?"i%fޞ?*i%׮2uBi%Bi%XA?i%+si%Bi%b?i%ԇ> addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.503293 s, deltaX: -0.100000 m, approachRate: -0.198691 m/s, rangeRepo size: 4 5 Added new target pos. range: 1.691714 m, bearing: 7.753296 deg, lat: 36.779386 deg, lon: -121.859586 deg, deltaT: 1.006158 s, deltaX: -0.000004 m, approachRate: -0.000004 m/s, posRepo size: 4 jh=2h9bh9h9h9*h9"h9 h92hAgAfAfAfAdIdIdIjdM@33?ZdU ٱ?额Bɢ#:)V >i)nj顡i:i0III)eA)m*@i @i@m! @i^AE ]>AIzAMgAuchecking for new query: numPingsReceived=20, elapsed TxPingTime=12.346826YIiIO>ԁ (07,-&l?A2ޡ@2٨@2Xn3ٱ2t0 :AHRS rotation from veh to nav: [[0.534205,0.845301,-0.009572],[-0.844220,0.534040,0.045760],[0.043792,-0.016364,0.998907]]2H`5? ?`~@?m?k? ?i2ޡ@I2UX_;0YRByR IfDDAT read: Rx Time:04:14:42.1633 fTRx dataTimestamp_ set to:1761538483.496366jDAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 nZ#Rx 21: Read range message, but no direction.ydYddrchecking for new query: numPingsReceived=21, elapsed TxPingTime=12.601197YEQ E:E*E"E;*E$ ;VE(N4ZEa@a@a@a@iMb@Mb@Mb@ 9&1?zG?MbY=y =-@ @)Z@Y@ <bDVDJyw=%1=ٔ Q->9Y=gFygD5=E>!Q 5-4%Oq?Q 9-4%sz)%^BY5>Q E5;y5nXQ I5?%ZDI%&;i%C&;%4yU BɮUwAUxEB*** querying acoustic contact ***i i addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.507714 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 jh2hbhhh*h"h h2hgfff!BdddjdZd@ ?uBɢu0:)q uߑ>iq)}yyi}Z=i0ԉII-@ @@2 @Աuchecking for new query: numPingsReceived=21, elapsed TxPingTime=12.849641^A 12q> I I O >=,nl?A2q>@2C9@2Ajٱ2 :AHRS rotation from veh to nav: [[0.569556,0.821930,-0.006012],[-0.819963,0.568671,0.065385],[0.057161,-0.032311,0.997842]]2H9? AM?x"=2??$D?`@R?i2q>@I2_;2hCYB/ByB IbDjVDjNyn=%ra=ٔr5Q-r>9tYt=vgFyvmDxz^=Ez>|Q 54~u?Q 94~z)~^BY y =/Q I ?~^DI~):i~ :~Ԣ4yɮAjh92hAbhAhAhA*hA"hA hA2hAgIfIfIfQdQdQdQjdQZd]ͨ?颅Bɢ;)  >i)Dۈ顉i@i0IIDDAT read: Rx Time:04:14:42.6632 TRx dataTimestamp_ set to:1761538484.001122%PDAT read: Bearing 158.1, -0.5 (Local) %~Local bearing/azimuth received: Bearing 158.1, -0.5 (Local) 5DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 E/@A @A@E0 @A}DAT read: 04:14:42.6632 LVL= 32752, 32753, 30178, 32755, AGC= 50, IDX= 513,-0.24, 2.135, 0.644, 2.149, 2.725, PHS=-0.488,-2.036,-0.620, RAW= 145.6, 36.8, CAL= 150.9, 47.9, ROT= 359.1, -47.9 Ygot valid direction response: 04:14:42.6632 LVL= 32752, 32753, 30178, 32755, AGC= 50, IDX= 513,-0.24, 2.135, 0.644, 2.149, 2.725, PHS=-0.488,-2.036,-0.620, RAW= 145.6, 36.8, CAL= 150.9, 47.9, ROT= 359.1, -47.9 T#Rx 22: Read range and direction messages.^direction in FSK: [0.670344,-0.010530,0.741976]Fpublishing direction and range infoyjus?5IyR!D?Y?BBBIBBBBBBs;B=/E^A=u>E-: E-CE-)E)"E-\p;*E-;VE-FA4ZE)BE-m)Aa$IiVUchecking for new query: numPingsReceived=22, elapsed TxPingTime=13.143823IIO>Iy  checking for new query: numPingsReceived=22, elapsed TxPingTime=13.353689QD,bgm?A2Ć@2@2ٱ2z/ NAHRS rotation from veh to nav: [[0.601537,0.798815,-0.006885],[-0.795933,0.600057,0.080143],[0.068151,-0.042729,0.996760]]2H`??@?3|Gx3?D? ]r?ॿ`t?i2Ć@I2^;2eCYn9Y=gFyuD =E>Q 54j{?Q 94z)^BY y MQ I ?bDI:i;4y1ɮ5sA1iQiUbm?AJiU?RiU?jiU$@bUA҄?lC'kHz?RUjus?5IyR!D?ZiUbiUVjU҄+|?kPP?ZU?o&޿$?2iU7:iU?"iU)o?*iUɍBiUBiQiU׮2uiQiU3?iUO_> addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.504756 s, deltaX: -0.200000 m, approachRate: -0.396231 m/s, rangeRepo size: 4  Added new target pos. range: 1.492689 m, bearing: 309.049890 deg, lat: 36.779386 deg, lon: -121.859586 deg, deltaT: 1.012470 s, deltaX: -0.199025 m, approachRate: -0.196574 m/s, posRepo size: 4 jh2hbhhh*h"h h2hgff f dddjd?Zd:?颅BԉɢĹ;) N>i) idEi0II%DDAT read: Rx Time:04:14:43.1633 -TRx dataTimestamp_ set to:1761538484.5043505DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 5Z#Rx 23: Read range message, but no direction.y!Y%?!=checking for new query: numPingsReceived=23, elapsed TxPingTime=13.609151E=P E=^E9E9"E=(;*E= ;VE9ZE9aE@aE@aM@aM@Ա 2D ?i ? 3@  @ @ @ @ i I  checking for new query: numPingsReceived=23, elapsed TxPingTime=13.857924 ^A>II)O5?L,c5m?AB@B߭@B!ȰٱB4]2 JAHRS rotation from veh to nav: [[0.657795,0.752809,-0.024173],[-0.748247,0.656808,0.093430],[0.086212,-0.043370,0.995332]]BH ?@?@??`?@4@?iB@IB^;BdCYZPByZH I iMb@Mb@Mb@ 9i|?5:v?~jtYqy=DZA@ C@)@Y@  AAbD VD yB=%%=ٔ%Q-%>9!Y)=-gFy-~D->E->1Q 5=45}?Q 9E45ry)5^BYE=Q EE;yE$?Q IE?5fDI5 ;i5 ;5׳4yIɮUAQ addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.503228 s, deltaX: 0.200000 m, approachRate: 0.397434 m/s, rangeRepo size: 4 jh2hbhhh*h"h h2hgfffPBdddjd@33?Zd̔?Bɢ<) 2>i)ijGKi0IIٹ1UDDAT read: Rx Time:04:14:43.6632 UTRx dataTimestamp_ set to:1761538485.008424eDAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 eZ#Rx 24: Read range message, but no direction.yQYU?Qmchecking for new query: numPingsReceived=24, elapsed TxPingTime=14.113248u5@q @q@ua @qAAAAB>BCB: IBEBB =BBBs;BC/EEmZ EmEm%Ei"Em;*Emz1;VEm 4ZEiBEmI1 IA OU >ԉ HS, Om?A24@2/@2]ٱ2@ :AHRS rotation from veh to nav: [[0.687577,0.724559,-0.047464],[-0.720295,0.688867,0.081469],[0.091726,-0.021829,0.995545]]2H?@/?`-M 3 ?.۴?U{?8Z`?i24@I2^;0YBlByBj IbDJVDJNyR$>%Rh=ٔVQ-V>9TYT=ZgFyZDZ<=EZ>bchecking for new query: numPingsReceived=24, elapsed TxPingTime=14.361769y\Q 54^(~?Q 94^ex)^^BYyL?Q I?^hDI^:i^:^4yɮAe addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.504074 s, deltaX: -0.200000 m, approachRate: -0.396767 m/s, rangeRepo size: 4 jha2habhahahi*hi"hi hi2higififfdddjd?Zd~?ԱBɢC<)>! >i)i!QiE0AAIAIIuDDAT read: Rx Time:04:14:44.1633 }TRx dataTimestamp_ set to:1761538485.512250DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 Z#Rx 25: Read range message, but no direction.yyY}?ychecking for new query: numPingsReceived=25, elapsed TxPingTime=14.617048E R E eE ,E "E ;*E #;VE g4ZE a @a @a @a @    8@!  @! @% ` @! @- ]>@- l>1^A%9>-checking for new query: numPingsReceived=25, elapsed TxPingTime=14.865713aAeAIIO?X\,um?AJD@J@JٱJm< VAHRS rotation from veh to nav: [[0.719998,0.689279,-0.080601],[-0.687988,0.724180,0.047294],[0.090969,0.021401,0.995624]]JH: ? ?`Lz,?6?@I?B?`&?iJD@IJ_;HY^By^ IhhiMb@Mb@Mb@ 9sh|?ſZd;?~jtxY)y=ĻAx@ pA)x@Y@bD VD2yU=%=ٔ:Q->9^>Y^>=gFyD=E>aQ 54I|?Q 94u)^BY S>Q E;y?Q I?qDI{i!)%j^w!!i%Yi-0))I)I1=p===5$ԑDDAT read: Rx Time:04:14:44.6633 TRx dataTimestamp_ set to:1761538486.017004PDAT read: Bearing 174.1, 29.8 (Local) ~Local bearing/azimuth received: Bearing 174.1, 29.8 (Local) DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 :@ @@ @%B1B1B5 IB5BB5 =B1B1B5t;B5P/EmDAT read: 04:14:44.6633 LVL= 29360, 32753, 32754, 31187, AGC= 46, IDX= 514,-0.46,-0.661,-2.574,-1.661,-0.406, PHS=-0.153,-2.123,-1.299, RAW= 114.6, 36.4, CAL= 112.0, 44.0, ROT= 38.0, -44.0 uYgot valid direction response: 04:14:44.6633 LVL= 29360, 32753, 32754, 31187, AGC= 46, IDX= 514,-0.46,-0.661,-2.574,-1.661,-0.406, PHS=-0.153,-2.123,-1.299, RAW= 114.6, 36.4, CAL= 112.0, 44.0, ROT= 38.0, -44.0 uT#Rx 26: Read range and direction messages.}\direction in FSK: [0.566847,0.442870,0.694658]Fpublishing direction and range infoy2]#?n A I I O >^c,袏m?A2 @2@2!ٱ2ψ< :AHRS rotation from veh to nav: [[0.748559,0.658318,-0.079226],[-0.656827,0.752557,0.047300],[0.090760,0.016631,0.995734]]2H2?@?`"H`?7? %V[=ٔV:Q-V>9XiIAchecking for new query: numPingsReceived=26, elapsed TxPingTime=15.381497YX=5gFy=D]=E]>iQ 54mz?Q 94mr)m^BYya?Q I?mvDIm ;im;m̬4yɮNAiim?AJi?Ri?jiB@b{ѯ?'#?-YiZ?R2]#?n!A_AIIO?ǩk,Bm?AJDDAT read: Rx Time:04:14:45.6633 RTRx dataTimestamp_ set to:1761538486.783758^checking for new query: numPingsReceived=27, elapsed TxPingTime=15.888106YBy IiEMb@Mb@Mb@AAAA A9E +οMbX?Mb?YEviyEJ>E9>Y>=gFyDE>Q 54rx?Q 94en)^BY>Q E*;y?Q I?DI#;i$;լ4yBɮAnEBDocked. Homing sequence complete.D1E-g)f1f1f=ƁBd9d9d9jdE?ZdM?颕B)  ?i)} fyyiyIԙU:@Q @Q@U @Q^A-S>A5zA5A5A55DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 =Z#Rx 28: Read range message, but no direction.y)Y-?)=checking for new query: numPingsReceived=28, elapsed TxPingTime=16.135847BIAM<BU>BQBU IBUBBU =BQBQBUZt;BUs/EBBBBB =C 5EM s EM EM &EI "EM ;*EM 9;VEM 4ZEI BEM  r,m?A2@2Y@2Q㋽ٱ2m< :AHRS rotation from veh to nav: [[0.790475,0.608552,-0.069381],[-0.608680,0.793118,0.021730],[0.068252,0.025054,0.997353]]2H`K?By?±Mz:a? @?@x??Q?i2@I26`;2fCYBłByB IbDJVDJyR,>%Vp=ٔV=Q-V?9ZYZ=ZhFyXZZ@>EZ?\Q 5b4^jv?Q 9f4^k)^^BYdyfD?Q If?^DI^[:i^:^۬4yhɮnAlzh1Egff f  Completed lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guideA  Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide1C  Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControlqC Uninitialize.1DqDCompleted lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidancedddjd@33?Zde?Z>Z>Z @ZD?=BEQ㋽)A E?iA)E_AIiIIIQ-DDAT read: Rx Time:04:14:46.1633 5TRx dataTimestamp_ set to:1761538487.303698=DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 EZ#Rx 29: Read range message, but no direction.y)Y))mchecking for new query: numPingsReceived=29, elapsed TxPingTime=16.412882:@ @@ @^A]>IIOG>) E checking for new query: numPingsReceived=29, elapsed TxPingTime=16.637569E] \ E] LE] -EY "E] ;*E] ;VE] t4ZEY ae @ae @am @am @^x,+m?A$2@2@2Tٱ2< >AHRS rotation from veh to nav: [[0.800472,0.596901,-0.054347],[-0.597112,0.802034,0.014055],[0.051977,0.021200,0.998423]]2H@w??Oӫ @D?Ȍ?Ɯ??@?i2@I2Hq_;2bCYRقByV IiMb@Mb@Mb@ 9/$ѿCl? rhY1y;_>C@ pA)Y@bDVD1y =%8=ٔ,=Q->9Y=hFy =E>Q 54Ys?Q 94g)^BYM>Q E;y?Q I?DI:i:4yɮ?A1I Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_TerminalGAggregate::initialize lineCaptureHoming:UpdateNumPings_NotTerminal1HG%No longer in Terminal. Resuming normal ranging with 1.000000 count pings.1H%qH%:- u-Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:-u-Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDockA- -Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidanceqE-54Initialize Wait Component.d1d1d1jd1Zd= ?ZUM>ZUM>ZUt@ZU?i)iI?i>q:@ @@ @@i>@,>^A_;->IIOC>DDAT read: Rx Time:04:14:46.6632 ԡTRx dataTimestamp_ set to:1761538487.791617DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 Z#Rx 30: Read range message, but no direction.yY?checking for new query: numPingsReceived=30, elapsed TxPingTime=16.896358 ))GjA u9 jAY A M~,^im?A2Vƭ@2(@2ٱ2s< :AHRS rotation from veh to nav: [[0.804862,0.592354,-0.036245],[-0.592535,0.805517,0.006690],[0.033159,0.016092,0.999321]]2H n?? ?f{?@7?mz?o?i2Vƭ@I2$_;2dCdYfByf!IllbDrVDry%m=%-W=ٔ-2K=Q-->9)Y1=5hFy15<E5>AQ 5E4Ep?Q 9M4Epd)E^BYIyM?Q IM?EDIE1:iEI:E-4yYɮ]AYiu?qHuHu}B*** querying acoustic contact ***iy i}dddjd?Zd`?ZZZZ"?i)iIchecking for new query: numPingsReceived=30, elapsed TxPingTime=17.141787B >B B  IB ݂BB B B B t;B /EbEjE²>4rE0Eh EOE*E"E ;*E3;VE(N4ZEBEy DDAT read: Rx Time:04:14:47.1634  TRx dataTimestamp_ set to:1761538488.292329 DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0  Z#Rx 31: Read range message, but no direction.y Y f?  checking for new query: numPingsReceived=31, elapsed TxPingTime=17.397135A *ͅ,;Un?Ab~@bP@b*Qٱb9<<  AHRS rotation from veh to nav: [[0.803728,0.594326,-0.028245],[-0.594859,0.803658,-0.016636],[0.012812,0.030173,0.999463]]bH#?`? P윿 ? @6=?`??ib~@Ib^;`YBy!IbD]VD] y=%6=ٔ9=Q->9Y=hFyhE>Q 54zm?Q 94`)^BYy?Q I?DIz;i;4yBɮKAG  Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_NotTerminalH dddjd?ZdP3?ZYZYZYZ]?i)顉iIAmƼ checking for new query: numPingsReceived=31, elapsed TxPingTime=17.646887E%K E%7E!E!"E%;*E% ;VE!ZE!a-@a5@a5@a5@:@ @@ @^Am.c=qIyIO>ԙ ,I*2n?A2DDAT read: Rx Time:04:14:47.6633 6TRx dataTimestamp_ set to:1761538488.796739:DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 >Z#Rx 32: Read range message, but no direction.y4Y6?4Bchecking for new query: numPingsReceived=32, elapsed TxPingTime=17.901525^PExceeded connect timeout, disconnecting.bU@bO@b;ٱb'< jAHRS rotation from veh to nav: [[0.797013,0.603838,-0.012243],[-0.603933,0.796614,-0.025896],[-0.005884,0.028034,0.999590]]bH "?`R?kS }? x??ibU@IbZ^;`YrByr!IyiMb@Mb@Mb@ 9x&1п/$?t@ @)@Y@bDVDyM;%M>=ٔU&2=Q-U>9QYY=]hFyY]C׼E]>aQ 54ei?Q 94ec])e^BY>Q E3;y[?Q I?eDIe~:ie:e4yɮ>AdIdQdQjdU@33?ZdU x?Z>Z>Z@&@Zc[?ԡi)iIhAhA9U:@Q @Q@U @QAAchecking for new query: numPingsReceived=32, elapsed TxPingTime=18.150133B>BB!IBBBBBB@u;B/E^AMX<IYIiOu>E- M E- ME- 'E) "E- ˀ;*E- %;VE- '4ZE) BE- P% checking for new query: numPingsReceived=33, elapsed TxPingTime=18.653677Y E= \ E= %E= (E9 "E= ;*E= ;VE= c44ZE9 aM @aM @aM @aM @<,en?A2@2x@2t%=ٱ2< :AHRS rotation from veh to nav: [[0.764297,0.644712,0.014038],[-0.643597,0.763978,-0.046055],[-0.040417,0.026165,0.998840]]2Hu?@z?@?Xr?}˚??i2@I2^;2eCYBByB !IiMb@Mb@Mb@ 9Mbȿl?~jtY@y=@@ @)Z@Y@bDVDk1yg%?=ٔ%=Q->9Y=hFyE>Q 540c?Q 94X)^BYO>Q E;y1@Q I?DI3:i]:4yɮeAdddjd?Zd%V ?1ZEO>ZEO>ZE1@ZE1@iQ)QYYiYYIa:@ @@ @@@@@aDDAT read: Rx Time:04:14:48.6633 TRx dataTimestamp_ set to:1761538489.804263DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 Z#Rx 34: Read range message, but no direction.yY?checking for new query: numPingsReceived=34, elapsed TxPingTime=18.909082nManaging dock network, ignoring radio surface power offIIO>ԑԹ /,n?A2폪@2@2tl=ٱ2< :AHRS rotation from veh to nav: [[0.740591,0.671477,0.025385],[-0.669464,0.740568,-0.058112],[-0.057820,0.026043,0.997987]]2H ?|?? @l`?骚? ?i2폪@I2^;2cCYRByR IbDZ VDZ2ybV%b\=ٔfb@=Q-f>9dYd=jhFyhj½Ej>lQ 5r4n``?Q 9r4n3W)n^BYtyv@Q Iv?nDIn:in9:n@ 4yxɮzAx5B*** querying acoustic contact ***i1 i1d9dAdAjdE@33?ZdE ̴?ZaZaZaZeL@iqB>B CB!IBBB =BBDBju;B/Echecking for new query: numPingsReceived=34, elapsed TxPingTime=19.165096)!i!!I)IugA)ugAԙEY EbE*E"E=;*E5";VE(N4ZEBE DDAT read: Rx Time:04:14:49.1634  TRx dataTimestamp_ set to:1761538490.308268 DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0  Z#Rx 35: Read range message, but no direction.y Y f?  checking for new query: numPingsReceived=35, elapsed TxPingTime=19.413074 ,ߊn?AYE؂ByE IaabDVDkyit%<=ٔQ->9Y=hFyE>Q 54]?Q 94U)^BYyQ I?DIE0 E#E(E"EJg;*E;VEc44ZEa @a @a @a@I A,en?A&DDAT read: Rx Time:04:14:49.6633 &TRx dataTimestamp_ set to:1761538490.812355*DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 .Z#Rx 36: Read range message, but no direction.y$Y&?$6checking for new query: numPingsReceived=36, elapsed TxPingTime=19.918129JЧ@Jˮ@JaH=ٱJQ)< VAHRS rotation from veh to nav: [[0.679222,0.732248,0.049708],[-0.729108,0.680960,-0.068520],[-0.084023,0.010298,0.996411]]JH@/?n? ds?Tm? `?`?iJЧ@IJ>^;JdCY^By^ IiMb@Mb@Mb@ 9Pny&1Mbp?Yy`弙; K@)pAYbDVDܲy%6=ٔp=Q->9Y=hFyEE%>!QQ 5U4%Y?Q 9U4%8T)%^BY];>Q E];y]N"@Q I]?%DI%;i%v;%4yaɮeAidddjd@33?Zd \?Z;>Z;>ZV@ZN"@i1)111i19I9@ @@ @IIOG>yBA4=B>BB IBBBBBBu;B"0Echecking for new query: numPingsReceived=36, elapsed TxPingTime=20.165705E C E ,E *E "E x;*E ;VE (N4ZE BE zi]>]DDAT read: Rx Time:04:14:50.1633 ]TRx dataTimestamp_ set to:1761538491.316878mDAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 uZ#Rx 37: Read range message, but no direction.yYYYY}checking for new query: numPingsReceived=37, elapsed TxPingTime=20.422508ԩ@ @@@IIO% >  checking for new query: numPingsReceived=37, elapsed TxPingTime=20.669579E B E 5E )E "E w;*E ;VE FA4ZE a- @a- @a- @a- @zS,n?A2դ@2Ы@2Ů=ٱ2 < :AHRS rotation from veh to nav: [[0.608385,0.792344,0.045372],[-0.789052,0.610017,-0.072641],[-0.085235,0.008393,0.996326]]2Hw?Z?;?`?B?ѵ]0? ?i2դ@I2,_;0lY~~By~ I  = =iMb@Mb@Mb@ 9I +?|?5^~jt?Y94=ٔ9;Q->9Y=hFy6^E>Q 5 46S?Q 94]T)^BY}=Q E};y}Q I?DIeDDAT read: Rx Time:04:14:50.6633 mTRx dataTimestamp_ set to:1761538491.820354uDAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 uZ#Rx 38: Read range message, but no direction.yaYaa}checking for new query: numPingsReceived=38, elapsed TxPingTime=20.9251679a :, o?A23c@2^@2=ٱ2; :AHRS rotation from veh to nav: [[0.572594,0.819034,0.036321],[-0.816492,0.573695,-0.064920],[-0.074009,0.007517,0.997229]]2H R?`5?@? [?@A~~?@M?i23c@I2M^;2cCYV]ByVX IbDbVDb:y 0% Z=ٔ yQ- >9Y=hFyE>BE>BE CBEy IBExBBE =BABABE&v;BEP0EB CB CBB =B =C)5achecking for new query: numPingsReceived=38, elapsed TxPingTime=21.173704Q 54P?Q 94U)^BYyQ I?DI:i:14yɮA-BCompleted lineCaptureHoming:Lap:BR- -^Aggregate::uninitialize lineCaptureHoming:Lap:BR5UB*** querying acoustic contact ***iQ iQZiZiZiZmww@ip:)顡iIE@ EE&E"Eu;*E:VE4ZEBE ԉԱu DDAT read: Rx Time:04:14:51.1634 u TRx dataTimestamp_ set to:1761538492.324206} DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0  Z#Rx 39: Read range message, but no direction.yq Yu f?q  checking for new query: numPingsReceived=39, elapsed TxPingTime=21.428991 e,o?AZ@Z@Z"=ٱZc < fAHRS rotation from veh to nav: [[0.509973,0.860091,0.013069],[-0.859272,0.510072,-0.038451],[-0.039738,0.008379,0.999175]]ZHQ?݅?(Ċ? (R?֯}X (?=?iZ@IZ^;ZbCY~2By~# IbD= VD=2ymO%mD=ٔ_Q->9Y=hFy7E>Q 54M?Q 9}4U)^BYyQ I?DIE9 E(E*E"Eso;*E;VE(N4ZEa@a@a@a@A T,4o?ADDAT read: Rx Time:04:14:51.6633 TRx dataTimestamp_ set to:1761538492.828974DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 "Z#Rx 40: Read range message, but no direction.yY?.checking for new query: numPingsReceived=40, elapsed TxPingTime=21.935535B;ɰB4<% GAY@9YA @X@h<ٱLf; AHRS rotation from veh to nav: [[0.485463,0.874249,0.003886],[-0.874009,0.485426,-0.021666],[-0.020828,0.007121,0.999758]]H? ?@mo?9?/S+}??i @I'_;Y-!By- II54=)5yu u;up@u@ u@)uAqYu=@bDVDk2y7%*=ٔ!Q->9Y=hFycvE>Q 54rL?Q 94;X)YkP>Q E;yn޿Q I?DI;i;d@4yɮA-(Mode 0.000000 count 1S-qS--ZAggregate::initialize lineCaptureHoming:Lap:EZMkP>ZMkP>ZM~@ZMt@i)顱iII=:@9 @9@E/ @AIQIaOmW>A9A9BE>BABE! IBE1BBABABABEv;BE0Echecking for new query: numPingsReceived=40, elapsed TxPingTime=22.181589ibEu:4jEu<4rEu١/E/ E)E(E"Eaf;*E0;VEc44ZEBEη_;@YByIbD VD 0y=0%=f=ٔ=TaQ-=>9AYA=EhFyAMEM>QQ 5]4UMK?Q 9]4UZ)U^BYYy]jQ I]?UDIU;iU9:UF4yiɮm!AiqqNfAggregate::initialize lineCaptureHoming:restartDHCPN$Restarting DHCP...NNZZZZQ@i)项iI=DDAT read: Rx Time:04:14:52.1634 =TRx dataTimestamp_ set to:1761538493.332388EDAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 UZ#Rx 41: Read range message, but no direction.y9Y=f?9]checking for new query: numPingsReceived=41, elapsed TxPingTime=22.438244m:@i @q@q@qIIO>ԡ checking for new query: numPingsReceived=41, elapsed TxPingTime=22.685616D D %=E # E *E *E "E [;*E ;VE (N4ZE a @a @a @a @ 7,cho?ARJ@R@RٱRؽq: ZAHRS rotation from veh to nav: [[0.448778,0.893598,-0.009016],[-0.893457,0.448867,0.015896],[0.018252,0.000922,0.999833]]RHƸ?Z?+w 3>?`G?@?p6N??iRJ@IRl _;RaCYByIiMb@Mb@Mb@ 9 rh?zGế~jth?Yl>y ׽D;C@@ @)AY@bDVD:2yZH%R=ٔNQ->9Y=hFy?E>Q 5u4K?Q 9u4\)^BY}>Q E}Q;y}ĿQ I}?DIOZU>ZUh@ZU@ia)aaaiaiII)hA%:@! @)@-0 @)I9IIO]2>= Tgot command ! /mnt/mmc/LRAUV/Tools/dhcp.shDDAT read: Rx Time:04:14:52.6633  TRx dataTimestamp_ set to:1761538493.860288DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 -Z#Rx 42: Read range message, but no direction.yY?echecking for new query: numPingsReceived=42, elapsed TxPingTime=22.9743802,o?A2OC@2!>@2&:ٱ23: BAHRS rotation from veh to nav: [[0.435957,0.899806,-0.017040],[-0.899180,0.436289,0.033574],[0.037644,0.000686,0.999291]]2H`? 6? s*?0?@F?yF?1?i2OC@I2}^;2fCBb>Bb CBbIBbBBb =B`B`Bbv;Bb0EY-By-I 99bDEVDEye%eN=ٔmHQ-m>9qYq=uhFchecking for new query: numPingsReceived=42, elapsed TxPingTime=23.189850yqE>Q 54K?Q 94[_)^BYyſQ I?DI;ig;^T4yɮAmBCompleted lineCaptureHoming:Lap:EqSmm^Aggregate::uninitialize lineCaptureHoming:Lap:ESmE" E$EE"EZ;*E;VEZEBE,x_o?A2@2@2Wgٱ2ه: >AHRS rotation from veh to nav: [[0.426973,0.903918,-0.025028],[-0.902501,0.427704,0.050608],[0.056450,0.000979,0.998405]]2HS?? ѠI_?Q??l P??i2@I2%^;2dCYFׁByFILbDfVDffy%Q=ٔ DQ- >9 Y=hFyʼE>Q 54K?Q 94b)^BY!y%8ǿQ I-?DII = DDAT read: Rx Time:04:14:53.6632 E TRx dataTimestamp_ set to:1761538494.844373x,NAo?AJŝ@J@JڔٱJ: ZAHRS rotation from veh to nav: [[0.421326,0.906331,-0.032378],[-0.903997,0.422564,0.065029],[0.072619,0.001871,0.997358]]JH?`?ؓH ?? +?O^?@[?iJŝ@IJ^;JcCnDAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 rZ#Rx 44: Read range message, but no direction.yiYm?izchecking for new query: numPingsReceived=44, elapsed TxPingTime=23.979856YzՁBy~IiEMb@Mb@Mb@AAAA A9EZd;O?p= ףy&1|?YE~j>yEE`;EZ@E@ E-@)E-@AYE@bD}VD}0y%4=ٔvQ->9Y=hFyKE>Q 5 4ZM?Q 94d)^BYs>Q E^;yδQ I?DI=;i;5c4y!ɮ% A!k=^@1UEqUEZ}s>Z}s>Z}46@Z}8ܛ@i)顑iIA;9@ @@@I)I9OMR>B<A<B>BBIBBB =BBBv;B0Echecking for new query: numPingsReceived=44, elapsed TxPingTime=24.197599ԙDzDE( E!E+E"E`;*E:VE [4ZEBER checking for new query: numPingsReceived=45, elapsed TxPingTime=24.7016729 E > E CE *E "E s;*E ;VE (N4ZE a @a @a @a @,o?AJs@JEݤ@J ٱJvo; RAHRS rotation from veh to nav: [[0.423897,0.904768,-0.041310],[-0.901298,0.425890,0.079241],[0.089288,0.003643,0.995999]]JH !??&o`A?I?۶?`m?9?iJs@IJؕ^;JcCYZByZIiMMb@Mb@Mb@IIII I9MMb?Zd;O~jtx?YM@>yMjM;IM@ MZA)M@IYM@bDuVDuy*=%?=ٔ@Q->9Y=hFy]*<E>Q 54P?Q 94h)^BY B>Q E;y~Q I?DIRQ;iW;p4yBɮAnE1blzlrljlZ B>Z B>Z*@ZO@iK9)iI)q@ @@M @IDDAT read: Rx Time:04:14:54.6632 TRx dataTimestamp_ set to:1761538495.854030-PDAT read: Bearing 171.5, 36.1 (Local) -~Local bearing/azimuth received: Bearing 171.5, 36.1 (Local) EDAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 IyO[>}DAT read: 04:14:54.6632 LVL= 20720, 29681, 32754, 24739, AGC= 45, IDX= 513, 0.04,-2.043, 2.698, 2.801,-1.593, PHS=-0.348,-1.947,-1.933, RAW= 90.4, 43.2, CAL= 89.2, 49.9, ROT= 60.8, -49.9 Ygot valid direction response: 04:14:54.6632 LVL= 20720, 29681, 32754, 24739, AGC= 45, IDX= 513, 0.04,-2.043, 2.698, 2.801,-1.593, PHS=-0.348,-1.947,-1.933, RAW= 90.4, 43.2, CAL= 89.2, 49.9, ROT= 60.8, -49.9 T#Rx 46: Read range and direction messages.\direction in FSK: [0.314242,0.562270,0.764921]Fpublishing direction and range infoy?ʓ# ?UnB6CB6IB6BB6 =B4B6DB6v;B60EB?2@B-@BWٱB"; JAHRS rotation from veh to nav: [[0.432708,0.900627,-0.040437],[-0.897234,0.434586,0.078134],[0.087943,0.002472,0.996122]]BH}? ?( %C??m? @d? 9IYQ=UhFyQUs<EU>echecking for new query: numPingsReceived=46, elapsed TxPingTime=25.205772eXRequesting device enable set for address 50.Q 54R?Q 94j)^BYy=Q I?DID;i@;w4yɮAblzlrljliAiEmo?AJiE?RiE?jiEw=bEnW3?ݑ#?0;tD?RE?ʓ# ?Un DDAT read: Rx Time:04:14:55.1634  TRx dataTimestamp_ set to:1761538496.357159- DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 5 Z#Rx 47: Read range message, but no direction.y Y f? E checking for new query: numPingsReceived=47, elapsed TxPingTime=25.463602M XRequesting device enable set for address 50. C,p?A2@2@2ٱ2i; >AHRS rotation from veh to nav: [[0.446250,0.894099,-0.038044],[-0.891281,0.447864,0.070961],[0.080485,0.002242,0.996753]]2H ^?u?`z`@̩?~*??]b?@g?i2@I2۫^;2`CY^By^ If=f=f@Af@AbDjVDjyr>%rQ=ٔv9tYx=zhFyxz=Ez>|Q 54~T?Q 9%4~l)~^BY)y-SQ I-?~ DI~;i~̯;~Y~4y9ɮ=!A9blzlrljlZZZZ@iY)aaiIuchecking for new query: numPingsReceived=47, elapsed TxPingTime=25.710119E:@A @A@A@AIQIiOu6>E EEE"E*EVEZEa @a@a@a@9i % DDAT read: Rx Time:04:14:55.6633 - TRx dataTimestamp_ set to:1761538496.861050= DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 E Z#Rx 48: Read range message, but no direction.y) Y- ?) M checking for new query: numPingsReceived=48, elapsed TxPingTime=25.967508Q; ,o7p?A^RN@^$I@^vٱ^ ; fAHRS rotation from veh to nav: [[0.464248,0.885048,-0.034118],[-0.883012,0.465495,0.060039],[0.069019,0.002254,0.997613]]^H@??`OR?wA? p?=?@vb?q?i^RN@I^^;\|Y}6By}( IiUMb@Mb@Mb@QQQQ Q9Ukt?y&1?{Gzt?YU =yU`%}3=ٔ}9Y=hFyd2=E>Q 54W?Q 94Rm)^BY=Q EZKj@i)i Iԉ:@ @@_ @IIO (>AYAYBe>BaBe IBeBBaBaBaBev;BeS0EB!B!B!B% =B!C%35}checking for new query: numPingsReceived=48, elapsed TxPingTime=26.213680E ; E 7E *E "E Dq;*E ;VE (N4ZE BE 59Y!=%hFy!%̀=E%>)Q 554-Y?Q 954-m)-^BY9y=|?Q I=?-DI-;i-";-4yAɮEAIblazlarlijliZZZZI @i)顙iII)fADDAT read: Rx Time:04:14:56.1634 TRx dataTimestamp_ set to:1761538497.365222DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 Z#Rx 49: Read range message, but no direction.yYf?checking for new query: numPingsReceived=49, elapsed TxPingTime=26.472406u:@q @q@u^ @qIIO= 1a  checking for new query: numPingsReceived=49, elapsed TxPingTime=26.717686E% % E% 3E% +E! "E% O];*E% t ;VE% [4ZE! a- @a- @a- @a- @M,6kp?A2"Π@2ȧ@2O5ٱ2A >AHRS rotation from veh to nav: [[0.505806,0.862523,-0.014626],[-0.861511,0.505938,0.042725],[0.044251,-0.009010,0.998980]]2H/? ʙ?[`0?`?@?s?i2"Π@I2_;2bCYRbByR^ IIV=)V%=XX9iMb@Mb@Mb@ 9y&1Q?Mb`?Y`y\=;@ @)@Y=@bDVDy=%<=ٔ 9 Y=hFyd=E>!Q 5%4%Z?Q 9-4%7m)!Y-u=Q E-/ QYTG-DDAT read: Rx Time:04:14:56.6633 -TRx dataTimestamp_ set to:1761538497.8767195DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 =Z#Rx 50: Read range message, but no direction.y)Y-?)Echecking for new query: numPingsReceived=50, elapsed TxPingTime=26.981562UhAi@%9hAYFAԑ B] >BY B] G IB] OBBY BY BY B] u;B] 0EC!,bMp?A.@.i@.ٱ.uD} :AHRS rotation from veh to nav: [[0.526455,0.850194,-0.003911],[-0.849586,0.526243,0.035657],[0.032374,-0.015449,0.999356]].H ?4?@p@/?A? E?`?i.@I._;.aCYR|ByR~ IbDZVDZkyb >%b_=ٔf=Q-f>9dYd=jhFyhjt=Ej>lQ 5r4n%\?Q 9r4nl)lYtyvqo?Q Iv?nDIn;in:n4yxɮzAxblzlrljlZ1Z1Z1Z5qo?iA)AIIiIIIQԙchecking for new query: numPingsReceived=50, elapsed TxPingTime=27.238272D<D<bEE(N4jEEL4rEEg.Em E{E*E"EO;*E_/;VE(N4ZEBEdU DDAT read: Rx Time:04:14:57.1633 ] TRx dataTimestamp_ set to:1761538498.388233e DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 e Z#Rx 51: Read range message, but no direction.yQ YQ Q u checking for new query: numPingsReceived=51, elapsed TxPingTime=27.493563! ^',p?A6\@6W@6Јٱ6 BAHRS rotation from veh to nav: [[0.547573,0.836754,-0.002600],[-0.836543,0.547499,0.020988],[0.018985,-0.009317,0.999776]]6Hඅ??@Le`?}?p?+?i6\@I6@_;6bCY^Byb IbDjVDjyr3=%rJ=ٔr=Q-r>9tYt=vhFytv{=Ez>xQ 54z]?Q 94zk)xYyu?Q I?zDIz ;izG;z4yɮAbl1zl1rl1jl1ZQZQZQZUu?i)顁iIi>9@9 @9@Ee @AIIO>checking for new query: numPingsReceived=51, elapsed TxPingTime=27.741684AEA E=EE"Ev;*E;VEZEa@a@a@a@qԙ +-,Ÿp?A&DDAT read: Rx Time:04:14:57.6632 *TRx dataTimestamp_ set to:1761538498.896539.DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 .Z#Rx 52: Read range message, but no direction.y$Y&?$2checking for new query: numPingsReceived=52, elapsed TxPingTime=28.001402YBy I ==qiMb@Mb@Mb@ 9V-Cl?~jthYy;=D@@ Z@)@Y@bDVD1y >%-=ٔQ->9Y=hFyE>Q 5 4^?Q 9 4 j)^BY#>Q E;y?Q I?DI` ;i ;ܩ4yɮA!bl9zl9rlAjlAZ]#>Z]#>Z]s@Z]ੲ?iq)qqqiqyIy@  @ @ n @ II)O5.>ԡBA<B >B  CB  IB }BB  =B B B du;B /Echecking for new query: numPingsReceived=52, elapsed TxPingTime=28.249641E= E<EE"Es;*E1;VEZEBEAHRS rotation from veh to nav: [[0.586344,0.810062,-0.000656],[-0.810025,0.586309,-0.010095],[-0.007793,0.006450,0.999949]]2HT??d|E ?`x@W@Ykz??i2ݣ@I2#^;2aCYZBy^ IbDfVDf:2ynM=%nr=ٔn¢=Q-r?9pYp=rhFypv>Ev?xQ 5~4zK_?Q 9~4zh)xY|y?Q I?zDIz7;iz:z4y ɮ NA bl)zl)rl)jl)ZIZIZIZM?iY)YYYiaaIaUDDAT read: Rx Time:04:14:58.1633 UTRx dataTimestamp_ set to:1761538499.400627]DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 eZ#Rx 53: Read range message, but no direction.yQYU?Qmchecking for new query: numPingsReceived=53, elapsed TxPingTime=28.505714q@q @q@up @qIIO=)  checking for new query: numPingsReceived=53, elapsed TxPingTime=28.754019E 6 E (E 2E "E l;*E ;VE 4ZE a @a @a @a @ǜ:,p?A rx@rjs@r܉<ٱr_< AHRS rotation from veh to nav: [[0.601432,0.798923,0.001394],[-0.798662,0.601279,-0.024548],[-0.020450,0.013651,0.999698]]rH>?Ɛ?V?@=?#@??irx@Ir;^;rbCYBy% IiMb@Mb@Mb@ 9/$ƿQ?{Gzt?Y&1y=ף;p@ @)Z@YbDVDyG=%<=ٔ91Y1=5hFy1=J-=E=>AQ 5M4E^?Q 9M4E*f)E^BYMW>Q EM|;yU?Q IU?E#DIEP ;iE ;E4yYɮ]AYblzlrljlZW>ZW>Z?"@Z?i) i  I1:@ @@@IIO%>eDDAT read: Rx Time:04:14:58.6633 eTRx dataTimestamp_ set to:1761538499.904221mDAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 uZ#Rx 54: Read range message, but no direction.yaYaa}checking for new query: numPingsReceived=54, elapsed TxPingTime=29.009016yԡ B >B B IB BB B B B =u;B /E!A,Wq?A4<ɰ;20@2@2-=ٱ2< :AHRS rotation from veh to nav: [[0.612940,0.790118,0.004302],[-0.789487,0.612652,-0.036989],[-0.031862,0.019276,0.999306]]2H4?H?aq?yCؚ?D0P`?Q?i20@I2d_;0@Yn‚Byr IIt)v91Y1=5hFy1="=E=>AQ 5M4E^?Q 9M4Ed)E^BYIyM?Q IU?E(DIE>:iEW:E4yYɮ]AYblyzlyrlyjlyZZZZ?i)顩ichecking for new query: numPingsReceived=54, elapsed TxPingTime=29.257782IE7 E2E;E"Em;*E;VE4ZEBEAHRS rotation from veh to nav: [[0.619747,0.784721,0.011293],[-0.783754,0.619598,-0.042753],[-0.040546,0.017645,0.999022]]6H?n? ? ?㥿 ¤`??i6:@I6"^;6_CYRłByR IbDZVDZkyb0k<%bQ=ٔf9dYd=jhFyhj^<Ej>lQ 5r4n5^?Q 9r4na)n^BYtyv?Q Iv?n-DIn:in:nĭ4yxɮzAxblzlrljlZ1Z1Z1Z5T?iA)AIIiIIIQY:@ @@ @II1OU=ԁchecking for new query: numPingsReceived=55, elapsed TxPingTime=29.761717E/ E3E*E"Eaf;*Et ;VE(N4ZEa@a@a@a@Ա KM, :q?ADDAT read: Rx Time:04:14:59.6633 TRx dataTimestamp_ set to:1761538500.912387DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 Z#Rx 56: Read range message, but no direction.yY?"checking for new query: numPingsReceived=56, elapsed TxPingTime=30.017206BN@BSI@B7>=ٱB3< NAHRS rotation from veh to nav: [[0.621539,0.783252,0.014316],[-0.782008,0.621427,-0.047871],[-0.046391,0.018558,0.998751]]BH?f?Q?5`???iBN@IB^;@YƂBy IԹi%Mb@Mb@Mb@!!!! !9%w/ĿEԸ?~jth?Y%&y%=%D;%-@%-@ %@)%A!Y%@bD] VD]2ym:%m3=ٔmtQ9Y=hFy;E>Q 549]?Q 94_)^BYAB>Q E;y7?Q I?3DIl0;i/;̭4yɮAblzlrljlZUAB>ZUAB>ZU&@ZU)7?ia)aaiiiiIqIy)}gAA@A @A@E{ @AIQIiOu6>AA@AB>BB IBBB =BBBTu;B/Echecking for new query: numPingsReceived=56, elapsed TxPingTime=30.265614E EE)E"EmR;*EA:VEFA4ZEBE9 Y = hFy NE>!Q 5-4%|\?Q 954%])%^BY1y=?Q I=?%7DI%M;i%(O;%%ӭ4yIɮM1AIblzlrljlZQZQZQZU?iy)yyyiI=DDAT read: Rx Time:04:15:00.1634 ETRx dataTimestamp_ set to:1761538501.416911UDAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 ]Z#Rx 57: Read range message, but no direction.y9Y=f?9echecking for new query: numPingsReceived=57, elapsed TxPingTime=30.523537-:@) @)@- @)I9IQO]>Aq checking for new query: numPingsReceived=57, elapsed TxPingTime=30.769691ԙ E L E 'E *E "E W;*E ";VE (N4ZE a @a @a @a @Z,mq?A:K@:@:=C=ٱ:1< bAHRS rotation from veh to nav: [[0.612084,0.790683,0.013181],[-0.789356,0.611891,-0.050061],[-0.047648,0.020237,0.998659]]:H@0?FM??@hB`?@CeḔ?@?i:K@I:^;:bCYfByj IiUMb@Mb@Mb@QQQQ Q9Up= ףJ +?YUyUH=UQQ U@)UpAQYU@bDmVDmky}yM%}B=ٔ"Q->9Y=hFyګE>Q 54 [?Q 94x\)_BYC>Q E;yK?Q I?;DIw;i;tڭ4yɮAblzlrljlZ C>qZ C>Z &1@Z QK?i)iI-:@) @1@1@1IIIaO}>ԙEDDAT read: Rx Time:04:15:00.6633 ETRx dataTimestamp_ set to:1761538501.920241UDAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 UZ#Rx 58: Read range message, but no direction.yAYE?A]checking for new query: numPingsReceived=58, elapsed TxPingTime=31.025030B >B CB IB BB =B B B |u;B 0EBaBeCBaBaBaCeˏM5 +a,q?A2o@2j@2>5=ٱ2< :AHRS rotation from veh to nav: [[0.600113,0.799837,0.011182],[-0.798691,0.599909,-0.046918],[-0.044235,0.019225,0.998836]]2H@ 4?C? n?t2?򥦿@կ?@w?i2o@I2U^;2aCY^Byb IbDjVDjܲyE#_%EN=ٔM, Q-M>9IYI=UhFyQUEU>YQ 5e4]Y?Q 9e4][)]_BYiym[?Q Im?]>DI]6:i]:]c4yqɮuAqblzlchecking for new query: numPingsReceived=58, elapsed TxPingTime=31.273760rljlZZZZY[?i)iI>i>E0 E:E.E"EJg;*E$ ;VEـ4ZEBE) U DDAT read: Rx Time:04:15:01.1633 U TRx dataTimestamp_ set to:1761538502.424352e DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 e Z#Rx 59: Read range message, but no direction.yQ YQ Q m checking for new query: numPingsReceived=59, elapsed TxPingTime=31.529163Q g,섡q?A2ɣ@2Ī@2#=ٱ2< :AHRS rotation from veh to nav: [[0.583924,0.811757,0.009111],[-0.810822,0.583731,-0.042725],[-0.040000,0.017561,0.999045]]2H`? ?`?A?ߥze?.?i2ɣ@I29^;2`CYNByN IPRA V49tYt=vhFytzpSEz>|Q 54~X?Q 94~Y)~_BYy ?Q I ?~BDI|i~:~>4yɮ|Abl1zl1rl1jl9ZQZQZQZU?i)iI11 @ @@ @IQIqchecking for new query: numPingsReceived=59, elapsed TxPingTime=31.777672O>EJ EAE(E"E~;*E;VEc44ZEa@a@a@a@aԁ G jA "9 jAY *A] DDAT read: Rx Time:04:15:01.6633 ] TRx dataTimestamp_ set to:1761538502.928255e DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 m Z#Rx 60: Read range message, but no direction.yY YY Y u checking for new query: numPingsReceived=60, elapsed TxPingTime=32.033096Ա Wn,J(q?AR&@R@R=ٱR< ZAHRS rotation from veh to nav: [[0.564276,0.825560,0.006573],[-0.824827,0.564081,-0.038383],[-0.035395,0.016237,0.999241]]RH?`j?z?`d ?`馣C?@?iR&@IR5^;PYr}Byr IiMb@Mb@Mb@ 9&1{GztMbP?YPyף:@ x@)AY=@bDVDy %3=ٔ%Q->9Y!=%hFy!%YE%>)Q 554-JW?Q 9=4-:Y)-_BY=Q=Q E=BA<B>BB IB}BBBBBu;B)0EQUchecking for new query: numPingsReceived=60, elapsed TxPingTime=32.281681DM?AzDM?AbEjE^n4rE̫1EUL EU6EU)EQ"EUW;*EU ;VEUFA4ZEQBEUu,q?A,V8/@V *@VA<ٱVAd< fAHRS rotation from veh to nav: [[0.542736,0.839889,0.004897],[-0.839348,0.542580,-0.033203],[-0.030544,0.013910,0.999437]]VH^? _?@"t? \?@F`|?b?iV8/@IV^;VaCYndByn` IbDvVDv1y~%^=ٔXQ->9Y = hFy  E >Q 54MV?Q 9%4X) _BY!y%@Q I%?DDIW:i :4y)ɮ-A1blIzlIrlIjlQZiZmQ=ZiZmJ@i)顉iIDDAT read: Rx Time:04:15:02.1634 TRx dataTimestamp_ set to:1761538503.432891DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 Z#Rx 61: Read range message, but no direction.yYf?checking for new query: numPingsReceived=61, elapsed TxPingTime=32.538826I@I @I@M @IԉIIO >Ա e checking for new query: numPingsReceived=61, elapsed TxPingTime=32.785645E \ E {E E "E ;*E _/;VE ZE a @a @a @a @if{,q?A2N@2SI@21<ٱ2)T< :AHRS rotation from veh to nav: [[0.519585,0.854416,0.002125],[-0.854042,0.519429,-0.028406],[-0.025374,0.012945,0.999594]]2Hq?_W?ga?OT(?{``ڂ??i2N@I24^;2^ClYTByM I iMb@Mb@Mb@ 9~jt?i|?5Y=yqZ@@ @)AY@bDVDy a% :=ٔnAQ->9Y=hFy!E%>!Q 5-4%+U?Q 954%Y)%_BYu=Q Eu=1a B >B B S IB YBB B B B v;B E0EN, r?A2r@2l@2g<ٱ2CN6< :AHRS rotation from veh to nav: [[0.496477,0.868050,0.000125],[-0.867827,0.496352,-0.022625],[-0.019702,0.011125,0.999744]]2HE??U ? <;?+`,Ȇ? ?i2r@I2_;2`CYN9xYx=zhFyxzE~>Echecking for new query: numPingsReceived=62, elapsed TxPingTime=33.293648AQ 54T?Q 942Z)Yy2Q I?HDI/;i&;4yɮAblzlrljlZZZZv@i)iIE-J E-=E-'E)"E-~;*E-;VE-'4ZE)BE-9xYx=zhFyxzᄽE~>Q 54S?Q 9 4Z)_BY y Q I ?JDI :i: 4yɮEAbl9zl9rl9jl9ԙZQZQZQZU@i)iI!I-hA)-hA:@ @@ @IIO= >mchecking for new query: numPingsReceived=63, elapsed TxPingTime=33.800346D%=D%4=E5W E5kE5*E1"E5T;*E5&;VE5(N4ZE1a=@a=@a=@a=@  DDAT read: Rx Time:04:15:03.6633  TRx dataTimestamp_ set to:1761538504.948258 DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0  Z#Rx 64: Read range message, but no direction.y Y ?  checking for new query: numPingsReceived=64, elapsed TxPingTime=34.053123s,a=r?A~`Ӟ@~2Υ@~w;ٱ~^x;  AHRS rotation from veh to nav: [[0.452015,0.892010,-0.000855],[-0.891993,0.452000,-0.006697],[-0.005587,0.003790,0.999977]]~H? X?YL 4?9n{ v o?@?i~`Ӟ@I~A+_;~_CY]By] IIe<)e;i Mb@Mb@Mb@     9 )\(?#~jY G=y 㥽  -@ @ @) @ Y @bD-VD-Ny=%=7=ٔ=LQ-=>9AYA=EhFyAE_EM>IQ 5U4M+R?Q 9]4Mg\)IY] >Q E];y]E޿Q I]?MNDIMP ;iM ;M4yiɮmAiblzlrljlZ >Z >ZA@Z~@i)项iIM:@I @I@M @IIYIiOu>BBB! IB1BBBBBv;BQ0E!]checking for new query: numPingsReceived=64, elapsed TxPingTime=34.301632E=c E=ME9E9"E=Ɗ;*E=%;VE9ZE9BE=AHRS rotation from veh to nav: [[0.431659,0.902037,0.000420],[-0.902032,0.431655,0.003642],[0.003104,-0.001951,0.999993]]6HL?@|?;?@q ;?m?@zmi?_?i6o@I6^;6`CY^By^ IbDfVDf1y~8B%`=ٔFüQ->9 Y = hFy  ~E >Q 54aQ?Q 9%4])Y!y%,Q I%?QDI:i:4y)ɮ-/A1blIzlQrlQjlQZiZiZiZmĐ@i)顁iIQDDAT read: Rx Time:04:15:04.1634 TRx dataTimestamp_ set to:1761538505.453020DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 Z#Rx 65: Read range message, but no direction.yYf?checking for new query: numPingsReceived=65, elapsed TxPingTime=34.558624I@I @I@M @QIYIqO}=ԁm checking for new query: numPingsReceived=65, elapsed TxPingTime=34.806236D= @AzD= AAEE P EE AEE 'EA "EE (;*EE ;VEE '4ZEA aM @aM @aM @aM @ ̴,zqr?A>w@>fr@>!Eٱ>ºĻ ZAHRS rotation from veh to nav: [[0.413726,0.910401,0.000488],[-0.910322,0.413682,0.013437],[0.012032,-0.006003,0.999910]]>H{z? "?l??[! y? ??ږxB?i>w@I>^;9Y=hFyl;E>Q 54P?Q 94T_) _BY>Q E;yۿQ I?UDI :iL:x!4y ɮHAblQzlYrlYjlYZ>Z>Zʶ@Z,@i)顡iԱIq}>i}!>@ @@ @II)O5.>DDAT read: Rx Time:04:15:04.6633 TRx dataTimestamp_ set to:1761538505.956283DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 Z#Rx 66: Read range message, but no direction.yY?checking for new query: numPingsReceived=66, elapsed TxPingTime=35.067451 B >B CB  IB BB =B B DB Iv;B g0E1 h,r?A2t@2F@2ٱ2: :AHRS rotation from veh to nav: [[0.398484,0.917175,-0.000867],[-0.916936,0.398401,0.022479],[0.020962,-0.008163,0.999747]]2H€? Y?LhLW h??0w?@@?i2t@I22^;0YB ByBI DDbDJVDJyR{B%R`=ٔVȼQ-V>9TYT=ZhFyXZ:EZ>\Q 5b4^O?Q 9b4^`)^ _BYdyfݿQ If?^XDI^ :i^:^'4yjBɮjdAjmEblxzlxrlxjlxZZZZ㢑@%checking for new query: numPingsReceived=66, elapsed TxPingTime=35.309814i1)111i19I9EJ EmE,E"E~;*E(;VEg4ZEBEAHRS rotation from veh to nav: [[0.386135,0.922436,-0.003480],[-0.921960,0.386052,0.030886],[0.029834,-0.008718,0.999517]]2H`n? ?Tlీ`?@??`ځ ?i27@I2^;2aCY^ BybIbDjVDj1y~*<%E=ٔQ->9 Y = hFy  pE >Q 54O?Q 9%4Hb)_BY!y%q߿Q I%?\DI;i;/4y)ɮ5RA1blIzlQrlQjlQZiZiZiZmf3@i)顁iI:@ @@% @!IQIqO>Mchecking for new query: numPingsReceived=67, elapsed TxPingTime=35.816380E K E YE *E "E ;*E w;VE (N4ZE a@a@a@a@  DDAT read: Rx Time:04:15:05.6632  TRx dataTimestamp_ set to:1761538506.964298 DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0  Z#Rx 68: Read range message, but no direction.y Y ?  checking for new query: numPingsReceived=68, elapsed TxPingTime=36.069180,r?A23@2.@2 ٱ2 :AHRS rotation from veh to nav: [[0.377169,0.926122,-0.006505],[-0.925350,0.377127,0.038762],[0.038352,-0.008600,0.999227]]2H#?ʢ?zw"?أ?٢? #?i23@I2^;2_ClY~By~IiMb@Mb@Mb@ 9Mb?Mb~jth?Y>yD;~@@ ;@);@Y3@bDVDJyq<%:=ٔܞQ->9Y=hFy%E%>)Q 554-N?Q 954-c)-_BY5>Q E=;y=ҿQ I=?-`DI- ;i-;-64yAɮE8AAblazlarlajlaZ>Z>Z9@ZS@i)顙iI )@) @)@)@)I9IIO]>Be>BeCBeIBe BBaBaBeDBexv;Be0EBCBBB =B =C4=checking for new query: numPingsReceived=68, elapsed TxPingTime=36.317551AER ESE+E"E;*EN;VE [4ZEBE;9)Y)=-hFy)5E5>99Q 5E4=AN?Q 9E4=Se)=_BYIyIQ IM?=dDI=:i=:=J=4yQɮUPAYblqzlqrlyjlyZZZZi)顩iIDDAT read: Rx Time:04:15:06.1634 TRx dataTimestamp_ set to:1761538507.468752DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 Z#Rx 69: Read range message, but no direction.yYf?checking for new query: numPingsReceived=69, elapsed TxPingTime=36.5747451@1 @1@5 @1IAIQO]=aԑe checking for new query: numPingsReceived=69, elapsed TxPingTime=36.824341 E% I E% GE! E! "E% };*E% ;VE! ZE! a- @a- @a- @a- @ ,jr?AYByIԙiMb@Mb@Mb@ 9(\µ?ˡE{Gzt?Y=y'ף;h@@ Q@)@Y=@bDVDN2yX<%>=ٔQ->9Y=hFy E> !)Q8GQ 54UN?Q 9%4Ujf))U_BY5=Q E= DDAT read: Rx Time:04:15:06.6633 TRx dataTimestamp_ set to:1761538507.972297DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 Z#Rx 70: Read range message, but no direction.yY?checking for new query: numPingsReceived=70, elapsed TxPingTime=37.077148BE >BE CBE  IBE BBE =BA BE DBE bv;BE s0E n,: s?A2@2@2h1lٱ2nT :AHRS rotation from veh to nav: [[0.369177,0.929132,-0.020559],[-0.927570,0.369748,0.053847],[0.057632,-0.000809,0.998338]]2H?r?n ৮`?ˑ??Ja?i2@I2^;2aCYRByR IbDZVDZyb=%b`=ٔfYQ-f>9dYd=fhFydjEj>lQ 5r4nM?Q 9r4nJg)n _BYpyvZҿQ Iv?nhDInf;in:n2K4yxɮzAxchecking for new query: numPingsReceived=70, elapsed TxPingTime=37.325714bl!zl!rl!jl!Z9Z9Z9Z=&y@iQ)QQQiQbEajEeI4rEe/E: E>E)E"E\p;*E?;VEFA4ZEBEm)QDDAT read: Rx Time:04:15:07.1634 TRx dataTimestamp_ set to:1761538508.476310DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 Z#Rx 71: Read range message, but no direction.yYf?checking for new query: numPingsReceived=71, elapsed TxPingTime=37.581108y ,&s?A6]@6/ @6vٱ6ȉ] BAHRS rotation from veh to nav: [[0.372660,0.927700,-0.022289],[-0.926012,0.373326,0.055952],[0.060228,-0.000211,0.998185]]6H?? Ӗ??+֮?Z+!?i6]@I6^;6^CYF"ByF INAANAAbDR VDR:2yZ=%ZK=ٔZԻQ-^>9\Y`=bhFy`bp<Ef>dQ 5j4fM?Q 9j4fHh)f$_BYlynѿQ In?fkDIf;if;f;R4ypɮvAtbl zl rl jl Z!Z!Z!Z%C@i9)999i9AIAY:@ @@ @I9Ia-checking for new query: numPingsReceived=71, elapsed TxPingTime=37.831936O5 >D=D=E? E4E*E"Et;*E ;VE(N4ZEa @a @a @a @ԁԩ DDAT read: Rx Time:04:15:07.6633  TRx dataTimestamp_ set to:1761538508.980277 DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0  Z#Rx 72: Read range message, but no direction.y Y ?  checking for new query: numPingsReceived=72, elapsed TxPingTime=38.085121 Y>,?s?A2C@2g>@2Kvٱ2: :AHRS rotation from veh to nav: [[0.378555,0.925284,-0.023340],[-0.923618,0.379274,0.055507],[0.060212,0.000544,0.998185]]2H?:?? Y旿G F? vk?"Ԯ?@A?"?i2C@I2^;2aCYR2ByR# Ii Mb@Mb@Mb@     9 X9v?I +~jth?Y 9yY=hFyb<E>ԱQ 54M?Q 94h)&_BYJ=Q EBB IB,BB =BBB#v;BP0E%:@! @!@% @)I9IIOU2>%checking for new query: numPingsReceived=72, elapsed TxPingTime=38.334480E_ EQE+E"E;*EA;VE [4ZEBEki>}DDAT read: Rx Time:04:15:08.1634 TRx dataTimestamp_ set to:1761538509.484814DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 Z#Rx 73: Read range message, but no direction.yYf?checking for new query: numPingsReceived=73, elapsed TxPingTime=38.590591:@ @@@IIO>9q E checking for new query: numPingsReceived=73, elapsed TxPingTime=38.839767E 1 E fE .E "E 2h;*E P$;VE ـ4ZE a @a @a @a @FP,ss?A 2{@2M@2|iWٱ2v: :AHRS rotation from veh to nav: [[0.398471,0.916921,-0.021838],[-0.915673,0.399068,0.047825],[0.052567,0.000940,0.998617]]2H@?jW?\`2MR?@|? ? +N??i2{@I2^;2bCYRQByRI IIV=)Vp=iMb@Mb@Mb@ 9{GzQ?Mb`?Yףyu<; @)@Y@bDVDy=%8=ٔw;9 Y = hFy  Q<E>Q 54M?Q 9%4h)Y%tDDAT read: Rx Time:04:15:08.6633 TRx dataTimestamp_ set to:1761538509.988284DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 Z#Rx 74: Read range message, but no direction.yY?checking for new query: numPingsReceived=74, elapsed TxPingTime=39.093227ԙ B >B B A IB JBB B B B u;B &0E8,^s?A6d@6k_@6;ٱ6Le: >AHRS rotation from veh to nav: [[0.411212,0.911327,-0.019685],[-0.910385,0.411682,0.041450],[0.045878,0.000876,0.998947]]6HKQ?)?,(!X?8? `}?L?_?i6d@I6^;6]CPYRWByRP IbD^VD^kyf0=%f`=ٔf9hYh=jhFyhnD=En>rchecking for new query: numPingsReceived=74, elapsed TxPingTime=39.341743tQ 5z4vN?Q 9z4vuh)v)_BY|y~9?Q I~?vnDIv;ivH;vn4yɮA bl!zl)rl)jl)ZAZAZAZE9?iQ)YYYiYaIaE+ EE+E"Eb;*E:VE [4ZEBE%%E=ٔ%39)Y)=-hFy)5=E5>9Q 5E4=GN?Q 9E4=0h)9YAyE?Q IE?9I=:i=:=u4yQɮUAQblqzlqrlqjlqZZZZu?i)顩iIQ@Y @a@e @achecking for new query: numPingsReceived=75, elapsed TxPingTime=39.847477)I9IE= E EE"Es;*E:VEZEa@a@a@a@O5.>Yԁ  DDAT read: Rx Time:04:15:09.6632  TRx dataTimestamp_ set to:1761538510.996238 DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0  Z#Rx 76: Read range message, but no direction.y Y ?  checking for new query: numPingsReceived=76, elapsed TxPingTime=40.101112J,8s?AVZ@VU@VKٱVP ^AHRS rotation from veh to nav: [[0.438656,0.898603,-0.009632],[-0.898130,0.438741,0.029465],[0.030704,-0.004274,0.999519]]YVH? \?{T?`!,?p?`q ?iVZ@IVP_;V_CYiyi qq=a=i5Mb@Mb@Mb@1111 195V-ˡE?Mb`Y5hy5'=55;@5@ 5h@)5@1Y5=@bDMVDM1y]Y%]8=ٔ]k9aYa=ehFyam=Em>qQ 5}4u~N?Q 9}4uchecking for new query: numPingsReceived=76, elapsed TxPingTime=40.349632ԱE< EEE"E,r;*E:VEZEBE9Y=hFy#=E>!Q 5-4%N?Q 9-4%uf)%&_BY1y5?Q I5?%sDI%=:i%:%փ4y9ɮ=yAAblYzlarlajlaZyZyZyZ}?i)顑iIDDAT read: Rx Time:04:15:10.1634 TRx dataTimestamp_ set to:1761538511.513611DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 Z#Rx 77: Read range message, but no direction.yYf?checking for new query: numPingsReceived=77, elapsed TxPingTime=40.619560:@ @@ @I!I1OE= checking for new query: numPingsReceived=77, elapsed TxPingTime=40.868393D zD @AE / E E *E "E af;*E :VE (N4ZE a5 @a5 @a5 @a= @A 1,s?AY%By% IiMb@Mb@Mb@ 9X9vA`"?MbPYyY=~@@ Q@);@Y3@bDVDNy1=%>=ٔQ->9Y=hFyE>Q 54eN?Q 94d)$_BYf>Q E;yh?Q I?vDI;i ;X4yɮ,A bl)zl)rl1jl1ZMf>ZMf>ZM>.@ZMBh?ia)aiiiiiIqIy)y-:@) @)@)@)I9IaOm>ADDAT read: Rx Time:04:15:10.6633 TRx dataTimestamp_ set to:1761538512.016315DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 Z#Rx 78: Read range message, but no direction.yY?checking for new query: numPingsReceived=78, elapsed TxPingTime=41.125164iB >B CB IB BB B B B u;B /EBU CBU CBQBU =BU =CUɑ5ԙ ,mt?A4<ɰ2@2ϧ@2gѻٱ2M :AHRS rotation from veh to nav: [[0.475546,0.879690,0.001052],[-0.879668,0.475524,0.007852],[0.006407,-0.004659,0.999969]]2HWo?`l&?Kz?s@?i2@I2n^;2^CYRByR IIV<)V;TVAbDZVDZ0yb=%f]=ٔfb9=Q-f>9hYh=jhFyhj=En>pQ 5v4rN?Q 9v4rc)r#_BYtyv?Q Iv?ryDIr:ir3:rΑ4y|ɮ~A|%checking for new query: numPingsReceived=78, elapsed TxPingTime=41.369804bl)zl)rl)jl)ZIZIZIZM?iY)YYYiYaIaE E(E)E"E*E;VEFA4ZEBEη9tYt=zhFyxz1<Ez>|Q 54~M?Q 94~Vb)|Y y T?Q I ?~}DI~:i~:~4yɮmAbl1zl1rl1jl9ZQZQZQZU+T?ia)iiiiiqIq@ @@@IIO =Echecking for new query: numPingsReceived=79, elapsed TxPingTime=41.875870E9 EYE,E"Eso;*Ew;VEg4ZEa@a@a@a@!EGYq9Y6@I  DDAT read: Rx Time:04:15:11.6633  TRx dataTimestamp_ set to:1761538513.024300 DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0  Z#Rx 80: Read range message, but no direction.y Y ?  checking for new query: numPingsReceived=80, elapsed TxPingTime=42.129143,ԁBt?A2S@2N@27/<ٱ2 V: :AHRS rotation from veh to nav: [[0.493358,0.869813,0.004845],[-0.869760,0.493382,-0.009580],[-0.010723,0.000512,0.999942]]2H-??+s?``?@@? ?i2S@I2^;2^CPYRByR Ii%Mb@Mb@Mb@!!!! !9%A`"S㥫?MbpY%ٽy%/]=%%@%@ %@)%p@!Y!bD=VD=yM/<%M6=ٔMC9Y=hFy<E>Q 54|M?Q 94`)!_BY=Q E;y?Q I?DI;i;4yɮ:AblzlrljlZM=ZM=ZMD*@ZMU?iY)aaaiaiIiyi}>AA?AB>BB IBBB =BBDBu;B0E!@! @!@!@!I1IIOU2>=checking for new query: numPingsReceived=80, elapsed TxPingTime=42.377594bE= [4jE=T\4rE=ǧ/E: E-EE"E\p;*EK;VEZEBEm9tYt=zhFyxz<Ez>|Q 5 4NM?Q 9 4_)Y y ?Q I?DIk:iw:4yɮCAblzlrljlZZZZ?i)iIDDAT read: Rx Time:04:15:12.1634 TRx dataTimestamp_ set to:1761538513.528828DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 Z#Rx 81: Read range message, but no direction.yYf?checking for new query: numPingsReceived=81, elapsed TxPingTime=42.634792:@ @@@IIO>)Qm checking for new query: numPingsReceived=81, elapsed TxPingTime=42.885181ԉ D zD E 6 E 1E )E "E l;*E f;VE FA4ZE a% @a% @a% @a% @,Fvt?ABO@B!@B<ٱBC; JAHRS rotation from veh to nav: [[0.502870,0.864321,0.008494],[-0.863939,0.502907,-0.026360],[-0.027055,0.005917,0.999616]]BH@??9e?b? @?9qYy=}hFyy} '<E}>Q 54M?Q 94^) _BY%X=Q E% ԁDDAT read: Rx Time:04:15:12.6633 TRx dataTimestamp_ set to:1761538514.032237DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 Z#Rx 82: Read range message, but no direction.yY?checking for new query: numPingsReceived=82, elapsed TxPingTime=43.137047ԩB >B B IB BB =B B DB gu;B /E #,t?A2@2浧@2 =ٱ2q< :AHRS rotation from veh to nav: [[0.503998,0.863654,0.009413],[-0.863023,0.504003,-0.034239],[-0.034315,0.009132,0.999369]]2H ? ?@OG? @ ?곂??i2@I2.^;0YfByf IbDrVDrchecking for new query: numPingsReceived=82, elapsed TxPingTime=43.387760y-b%5O=ٔ==9IYI=UhFyQ]k;Ee>iQ 5u4mL?Q 9u4m])iYqyu?Q Iu?E/ E>E+E"Eaf;*E?;VE [4ZEBEη9tYx=zhFyxz,BEz>|Q 54~L?Q 9 4~\)|Y y ?Q I?~DI~R;i~;~;4yɮ!!blzlrljlZ1Z1Z1Z5?iI)IIIiIQIq:@ @!MDDAT read: Rx Time:04:15:13.6633 ]TRx dataTimestamp_ set to:1761538514.796281mchecking for new query: numPingsReceived=83, elapsed TxPingTime=43.900833D%=D<E5 E(E,E"Ek;*E;VEg4ZEa@a@a@a@@% @IIIOa>iԙ  DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0  Z#Rx 84: Read range message, but no direction.y Y  checking for new query: numPingsReceived=84, elapsed TxPingTime=44.1438450,*t?Ab"@b@b2=ٱb < nAHRS rotation from veh to nav: [[0.498441,0.866808,0.014186],[-0.865827,0.498566,-0.042142],[-0.043602,0.008723,0.999011]]bHs??@ ?@ڴ?S )݁??ib"@Ib^;`Y%By% IiMb@Mb@Mb@ 9T㥛 I +?{Gzt?Yy9<ף;h@@ @)VAY@bDVDky̺%<ٔ;Q->9Y=hFy>E>Q 5540L?Q 954 \)#_BY= =Q E=FBIBM IBMBBM =BIBIBMuu;BM/E@ @@ @IIO&>ԡ%DDAT read: Rx Time:04:15:14.1634 -TRx dataTimestamp_ set to:1761538515.292932-checking for new query: numPingsReceived=84, elapsed TxPingTime=44.395542E E"E(E"E*E;VEc44ZEBE^;2\CYRByR IbDZVDZy~%~Y=ٔ ;Q->9Y=hFy  E >Q 54K?Q 94e[)&_BY!y%?Q I%?DI;i";eʮ4y)ɮ-A)blIzlIrlIjlQZiZiZiZm?iy)顁iIIhA)gADAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 Z#Rx 85: Read range message, but no direction.yyY}f?ychecking for new query: numPingsReceived=85, elapsed TxPingTime=44.6492121@1 @1@9@9IIIYOe= ) E DDAT read: Rx Time:04:15:14.6633 U TRx dataTimestamp_ set to:1761538515.800056u DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0  Z#Rx 86: Read range message, but no direction.yI YM ?I E ? E =E *E "E t;*E ;VE (N4ZE a @a @a @a @ checking for new query: numPingsReceived=86, elapsed TxPingTime=44.911648Y ">=,?t?A2+@2@2-=ٱ2< :AHRS rotation from veh to nav: [[0.482961,0.875550,0.012677],[-0.874617,0.483045,-0.041383],[-0.042357,0.008899,0.999063]]2H??@?6? ,0Ư9?R?i2+@I2^;2_CYNByL PPiMb@Mb@Mb@ 9y&1?{GztY`e9Y=hFyλE>!Q 5-4%K?Q 9-4%[)!Y-schecking for new query: numPingsReceived=86, elapsed TxPingTime=45.149708QB- >B) B- IB- BB) B) B- DB- u;B- 0Eԁ "D,:Yu?APZ@Zđ@Z/=ٱZ_ < fAHRS rotation from veh to nav: [[0.472849,0.881095,0.009253],[-0.880334,0.472839,-0.037878],[-0.037749,0.009764,0.999240]]ZH`*C?@1?o?+`B? dS@P?@?iZ@IZ_;Z]CrDDAT read: Rx Time:04:15:15.1634 vTRx dataTimestamp_ set to:1761538516.300128zDAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 zZ#Rx 87: Read range message, but no direction.ypYrf?p~checking for new query: numPingsReceived=87, elapsed TxPingTime=45.404930YxByy IbDVD 3y%U %-X=ٔ-IQ-->91Y1=5hFy15E5>EeE Ee9Ee.Ea"EeVz;*Ee ;VEeـ4ZEaBEe checking for new query: numPingsReceived=87, elapsed TxPingTime=45.653667A LJ,4+u?AV%+@V%@Vm<ٱVG(< ]AHRS rotation from veh to nav: [[0.461336,0.887211,0.005033],[-0.886696,0.461250,-0.031926],[-0.030647,0.010266,0.999478]]VH`?@d?t?_`?Xa@P?@?iV%+@IV _;V[CYmoByun IbDVDk1y%5=ٔ뀼Q->9Y=hFyE>ADDAT read: Rx Time:04:15:15.6633 TRx dataTimestamp_ set to:1761538516.804421DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 Z#Rx 88: Read range message, but no direction.yY?checking for new query: numPingsReceived=88, elapsed TxPingTime=45.909882IE< EJE(E"E,r;*E;VEc44ZEa@a@a@a@Q 5-4EL?Q 954E[)AY9yQ I?EDIE8=iE =E4yɮ7AqblzlrljlZZZZ*@i)iI9i=> :@  @ @ @ I I O >ԡ  checking for new query: numPingsReceived=88, elapsed TxPingTime=46.1575665Q,8Eu?A;ɰ;2@2@27U<ٱ2.< :AHRS rotation from veh to nav: [[0.449226,0.893418,0.000420],[-0.893144,0.449100,-0.024563],[-0.022134,0.010659,0.999698]]2H ??;? ? '-@ԅ??i2@I2^;2\CYNXByRR IyiMb@Mb@Mb@ 9Zd;?S㥛Mb`?Yy=y/ݼ;@@ )AY@bDVD0yd%[=ٔۺQ->9Y=hFyE>Q 54'L?Q 94\)Y=Q EFBB` IBdBBBBDBu;B$0EB CB CBB =B =C/5:@ @@ @IIO>ԡDDAT read: Rx Time:04:15:16.1634 TRx dataTimestamp_ set to:1761538517.308263 DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 Z#Rx 89: Read range message, but no direction.yYf?checking for new query: numPingsReceived=89, elapsed TxPingTime=46.413086ED E5E'E"Eny;*E ;VE'4ZEBEC9xYx=zhFyxz{E~>Q 54:L?Q 9 4.])Y y ĿQ I ?DI:i:4yɮCAbl1zl9rl9jl9ZQZQZQZU@ii)iiiiiqIq]checking for new query: numPingsReceived=89, elapsed TxPingTime=46.661785@ @@@II!O- >1% DDAT read: Rx Time:04:15:16.6633 - TRx dataTimestamp_ set to:1761538517.815458U DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 e Z#Rx 90: Read range message, but no direction.y! Y% ?!  checking for new query: numPingsReceived=90, elapsed TxPingTime=46.927719i ƐCU GZ],xu?A (J9HYJ[@y~o?~ZAM۝@M֤@M2A;ٱMb; AHRS rotation from veh to nav: [[0.424865,0.905255,-0.001873],[-0.905252,0.424855,-0.004148],[-0.002959,0.003458,0.999990]]MH0?? U^@0?Tpc=h1Tl?`?iM۝@IM^;IYABy6 I1iMb@Mb@Mb@ 9A`"?ˡEMbP?Y=y':Q@@ @)@YbDVD02y4S%.=ٔQ->9Y=hFy5E>!Q 54%L?Q 94%^)!Y=Q E;y#Q I?%DI%=i%=%4yɮ%A!checking for new query: numPingsReceived=90, elapsed TxPingTime=47.172142ԡblzlrljlZ=Z=Zq@@Z@i)iIi@i @i@m @iIyIO~>B>BB: IBEBBBBBu;B0E Iqd,u?A2er@27m@2ݡٱ2 :AHRS rotation from veh to nav: [[0.413169,0.910653,-0.001297],[-0.910627,0.413167,0.007174],[0.007069,-0.001783,0.999973]]2H]q?`$?B@U#Uq? Ub}?+|? 5]@?i2er@I2^;2\CYB8ByB+ I DDJ=J=bDNVDNyVV[%Vw=ٔVSQ-V?9XYX=ZhFyX^!E^ ?`Q 5f4bL?Q 9f4b_)b'_BYdyfQ If?bDIb:ib:b4ylɮnAlDDAT read: Rx Time:04:15:17.1633 TRx dataTimestamp_ set to:1761538518.325780%DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 5Z#Rx 91: Read range message, but no direction.yYMchecking for new query: numPingsReceived=91, elapsed TxPingTime=47.434742blzlrljlZ Z Z Z @i9)AAAiAIIIEU+ EU1EU*EQ"EUb;*EUf;VEU(N4ZEQBEU<2EU<JEU-d<:EU.d<)@) @)@)@)I9IIO]>checking for new query: numPingsReceived=91, elapsed TxPingTime=47.677616) Zj,}u?A$J@J@JfٱJY VAHRS rotation from veh to nav: [[0.402608,0.915365,-0.003822],[-0.915214,0.402612,0.016936],[0.017042,-0.003320,0.999849]]JHS?J?`APonIe?W?`us?]3k?iJ@IJ^;J[CYb*Byb IbDr VDr2yzK%zF=ٔzżQ-~>9|Y|=hFy E> Q 54 L?Q 94 `) (_BYyDÿQ I? DI j;i ; 4y!ɮ%cA!blAzlArlAjlAZaZaZaZe>@iq)qyyiyI:@ @@ @I!I1OE=ԉ-DDAT read: Rx Time:04:15:17.6632 5TRx dataTimestamp_ set to:1761538518.831582=DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 MZ#Rx 92: Read range message, but no direction.y)Y-?)]checking for new query: numPingsReceived=92, elapsed TxPingTime=47.938679bE(N4jEL4rE+0E3 EMEE"Ej;*E%;VEZEa@a@a@a@ԙ  checking for new query: numPingsReceived=92, elapsed TxPingTime=48.181690փq,Zu?A2f@28@2޼ٱ2{ :AHRS rotation from veh to nav: [[0.393265,0.919398,-0.007128],[-0.919026,0.393311,0.026425],[0.027099,-0.003841,0.999625]]2H?+?k?n2}h,?`?`?!wo`?i2f@I2i^;2\CLYPyPiMb@Mb@Mb@ 9L7A`?ˡE~jthY+>yDh@@ @)$@Y@bDVD:yR;%?=ٔQ->9Y=hFy[E>Q 54jM?Q 94Yb))_BY >Q E;yۻQ I?DI:i:S 4yɮ`AblzlrljlZ >Z >Zl@Z@i))))1i11I9IA)EhAB}>ByB}( IB}6BB} =ByB}DB}u;B}0E:@ @@ @II O>%DDAT read: Rx Time:04:15:18.1634 -TRx dataTimestamp_ set to:1761538519.333433=DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 EZ#Rx 93: Read range message, but no direction.y)Y-f?)Mchecking for new query: numPingsReceived=93, elapsed TxPingTime=48.439808aE ? E OE )E "E t;*E 3;VE FA4ZE BE X9dYd=jhFyhj,Ej>lQ 5r4nM?Q 9r4nc)lYtyvQ Iv?nDIn:in1:n4yxɮzAxblzlrljlYZZZZTԙ@i)iI}checking for new query: numPingsReceived=93, elapsed TxPingTime=48.685753@ @@ @IIO=ԉԱ5 DDAT read: Rx Time:04:15:18.6633 = TRx dataTimestamp_ set to:1761538519.837592M DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 U Z#Rx 94: Read range message, but no direction.y9 Y= ?9 } checking for new query: numPingsReceived=94, elapsed TxPingTime=48.947163EE L EE YEE 'EA "EE W;*EE w;VEE '4ZEA ae @ae @ae @ae @i [},E+u?AB)E@B?@BBٱB蹝jPExceeded connect timeout, disconnecting. nAHRS rotation from veh to nav: [[0.378994,0.925232,-0.017605],[-0.924180,0.379402,0.044102],[0.047484,-0.000444,0.998872]]BHnA??H?x?O? =@?iB)E@IBN^;@Yty  IiMb@Mb@Mb@ 9q= ףp?X9vMbPY=y~@ ;@)@Y=@bD-VD-02y5;%=4=ٔ=Q-=>9AYA=EhFyAMuEM>QQ 5U4UeN?Q 9]4Ue)U+_BY]=Q E];y]Q I]?UDIU:iUZ:U4yiɮmAiblzlrljlZ=Z=Z٢@Zvњ@i)项iIA@A @A@E @AIQIiOu>}checking for new query: numPingsReceived=94, elapsed TxPingTime=49.189640ABu>BqBu IBu,BBu =BqBqBuu;Bu0Eq ",v?A:%@:@:dٱ:1; JAHRS rotation from veh to nav: [[0.375207,0.926577,-0.025979],[-0.925259,0.376066,0.049694],[0.055815,0.005391,0.998426]]:H`c?? y?@q?Г?+v? ?i:%@I:^;85DDAT read: Rx Time:04:15:19.1634 =TRx dataTimestamp_ set to:1761538520.350272MDAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 UZ#Rx 95: Read range message, but no direction.y1Y5f?1]checking for new query: numPingsReceived=95, elapsed TxPingTime=49.456341E}3 E}VE}(Ey"E}j;*E};VE}c44ZEyBE}9 Y = hFy n"E5>9Q 5E4=N?Q 9E4=Zf)=._BYIyMzQ IM?=DI=:i=:=4Qyqɮ}pAyblzlrljlZZZZ6@i)))))i)QIQe>ie>@ @@ @II O*>ԁԩchecking for new query: numPingsReceived=95, elapsed TxPingTime=49.701668 ,-v?A:@: @:ևٱ:3; FAHRS rotation from veh to nav: [[0.372685,0.927524,-0.028380],[-0.925836,0.373726,0.056184],[0.062718,0.005336,0.998017]]:H?`F?r` ?Ĭ?G?@du?`?i:@I:^;:\CYJByJ IR@AR@AbDVVDV1y^uH%^b=ٔbdQ-b>9`Y`=bhFydf|Ef>hQ 5n4jOO?Q 9n4jwg)j0_BYpyrѹQ Ir?jDIj;ij;j&4ytɮvAtbl zl rl jl Z)Z)Z)Z-@i)项iIԱ:@ @@ @II=DDAT read: Rx Time:04:15:19.6633 ETRx dataTimestamp_ set to:1761538520.853634MDAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 UZ#Rx 96: Read range message, but no direction.y9Y=?9uchecking for new query: numPingsReceived=96, elapsed TxPingTime=49.961414E( E/E*E"E`;*EY;VE(N4ZEa@a@a@a@O$>nManaging dock network, ignoring radio surface power off  checking for new query: numPingsReceived=96, elapsed TxPingTime=50.2056669 ё,נGv?A2@2 @2cmٱ2˾; :AHRS rotation from veh to nav: [[0.372478,0.927580,-0.029233],[-0.925720,0.373589,0.058938],[0.065591,0.005108,0.997833]]2H?༮?6 ?--?ʰ?@Dt?@?i2@I2^;0YN)ByR IimMb@Mb@Mb@iiii i9m&1?Mb{Gzt?YmP=ymmף;mQ@m@ mh@)m@iYibDVDy:=%<=ٔػQ->9Y=hFyqE>Q 54uO?Q 94hAAAAB%>B!B%( IB%6BB!B!B%DB%u;B%0E)3_BY5[=Q E5w9=DDAT read: Rx Time:04:15:20.1633 ETRx dataTimestamp_ set to:1761538521.356382MDAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 UZ#Rx 97: Read range message, but no direction.yAYAA]checking for new query: numPingsReceived=97, elapsed TxPingTime=50.461224D=D<E/ E2E)E"Eaf;*E;VEFA4ZEBEη9TYX=ZhFyXZg;EZ>\Q 5b4^O?Q 9f4^h)^7_BYdyf Q If?^DI^:i^ :^44yhɮjAlblxzlxrl|jl|ZZZZG@i!))))i)1I19checking for new query: numPingsReceived=97, elapsed TxPingTime=50.710167@ @@ @IIO%=ԉԹ ] DDAT read: Rx Time:04:15:20.6632 ] TRx dataTimestamp_ set to:1761538521.862029m DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 m Z#Rx 98: Read range message, but no direction.yY Y] ?Y u checking for new query: numPingsReceived=98, elapsed TxPingTime=50.966846E & E 4E *E "E 8^;*E ;VE (N4ZE a @a @a @a @+,l{v?A,ɰ,NaG@N3B@N'yuٱN; VAHRS rotation from veh to nav: [[0.378991,0.924982,-0.027814],[-0.923460,0.379970,0.053326],[0.059894,0.005475,0.998190]]NHaA?t?Y{`oQ? M?`q?Zmv?+?XiNaG@INj^;N\CY~BBy~7 II<)=i%Mb@Mb@Mb@!!!! !9%~jtx?Y%y%;%%h@%@ %VA)!!Y%@bDuVDu0y=%/=ٔ&9Y=hFy*<E>Q 54O?Q 94h)Y;Q E >y>Q I?I ;i~ ;?<4yɮAblzlrljlZ;Z;Z?Z>i)   i  I}:@ @@ @IIO>checking for new query: numPingsReceived=98, elapsed TxPingTime=51.213650!B >B B : IB EBB  =B B B u;B 0EBBBBB =C949 U,4v?ADDAT read: Rx Time:04:15:21.1634 TRx dataTimestamp_ set to:1761538522.364209 DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 Z#Rx 99: Read range message, but no direction.yYf?checking for new query: numPingsReceived=99, elapsed TxPingTime=51.4690749DYzD]AAEe# Ee&Ee)Ea"Ee[;*Ee;VEeFA4ZEaBEeg9)Y)=-hFy)-E5>YQ 5]4]O?Q 9e4]h)YYayaQ Ie?YI]:i]B:]#C4yɮQAblzlrljlZZZZi!)!!!i!IIQi:@ @@ @II)O5.>ԑchecking for new query: numPingsReceived=99, elapsed TxPingTime=51.717651Թ 7, v?AY~]By~W IbD VD y=%%\=ٔ!Q-%>9!Y)=-hFy19EE>QQ 5m4U)P?Q 9u4UhԹ)QYyQ I?QIUuDDAT read: Rx Time:04:15:21.6633 TRx dataTimestamp_ set to:1761538522.8694475DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 =\#Rx 100: Read range message, but no direction.yY?Echecking for new query: numPingsReceived=100, elapsed TxPingTime=51.976006E} E}8E}*Ey"E}CJ;*E} ;VE}(N4ZEya@a@a@a@ G 1X9Y@9  checking for new query: numPingsReceived=100, elapsed TxPingTime=52.221638,v?A2@2@2saٱ2è :AHRS rotation from veh to nav: [[0.401079,0.915995,-0.009426],[-0.915365,0.401157,0.034346],[0.035242,-0.005147,0.999366]]2HG?O?M J? ŕ?9 ?u`?i2@I2^;2]CYNdByR` I TTbDZVDZfyE =%EH=ٔEw=Q-E>9IYI=MhFyIMl=EU>QQ 5e4UYP?Q 9e4U|h)QYayeX>Q Ie?QIU:iU:UP4yqɮuAqblzlrljlZZZZX>B>BBS IBYBBBBB^u;B/Ei)iIi@i @i@u @qIIO=ADDAT read: Rx Time:04:15:22.1634 %TRx dataTimestamp_ set to:1761538523.372263-DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 5\#Rx 101: Read range message, but no direction.y!Y%f?!=checking for new query: numPingsReceived=101, elapsed TxPingTime=52.477085DqDu<E}1 E}6E}+Ey"E}2h;*E} ;VE} [4ZEyBE}_9dYd=fhFyhj<Ej>lQ 5r4nP?Q 9r4nvhQ =rtI)lYtyv>Q Iv?nDIn]:in:ntW4yxɮzbAxblzlrljlZ1Z1Z1Z5]>i)顡iIchecking for new query: numPingsReceived=101, elapsed TxPingTime=52.725964ԉQ@Q @Q@Q@QIaIqO=ԡ- DDAT read: Rx Time:04:15:22.6633 5 TRx dataTimestamp_ set to:1761538523.876246= DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 = \#Rx 102: Read range message, but no direction.y) Y- ?) E checking for new query: numPingsReceived=102, elapsed TxPingTime=52.981045bEFA4jEC4rEL/E  E !E )E "E P;*E :VE FA4ZE a @a @a @a @ \v,Ҩv?A@@wٱ%! AHRS rotation from veh to nav: [[0.415208,0.909723,0.002669],[-0.909601,0.415100,0.017839],[0.015121,-0.009834,0.999837]]H’?r?e?s?^D??@$?i@I9_;YCYhBye IiMb@Mb@Mb@ 9 ףp= ~jt?Mb`YQ8y<-@@ @)@Y@bDVDky% +=ٔ U9Y=hFyʉ<E>Q 5%4xP?Q 9-4g)5_BY->H=Q E-H=Z}>H=Z}1~/@Z}M?i)顙iI>i>!@! @!@% @!I1IIOU2>checking for new query: numPingsReceived=102, elapsed TxPingTime=53.229660B>BBf IBiBB =BBDBu;B/E! Z,uw?Aɰ6Ý@6@6+xٱ6 >AHRS rotation from veh to nav: [[0.422209,0.906483,0.005330],[-0.906491,0.422173,0.006668],[0.003794,-0.007647,0.999964]]6H x??Zu??O{?@o?R?i6Ý@I6X^;6[CYFyByFz IIH)J;bDRVDRܲyZ=%Zz=ٔZ2=Q-Z?9\Y\=^hFy\b6<Eb?dQ 5j4flP?Q 9j4fmg)f4_BYhyj?Q Ij?fDIf:if6:fe4vDDAT read: Rx Time:04:15:23.1634 vTRx dataTimestamp_ set to:1761538524.380399zDAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 ~\#Rx 103: Read range message, but no direction.ytYvf?tchecking for new query: numPingsReceived=103, elapsed TxPingTime=53.485207y ɮ A bl)zl)rl)jl)EF EXE-E"E>{;*E;VEt4ZEBEAHRS rotation from veh to nav: [[0.428126,0.903697,0.006348],[-0.903687,0.428159,-0.005386],[-0.007585,-0.003431,0.999965]]@6H@if??Rz?f?,vL@l@?i6x@I6v^;6^CYN}ByR IbDjVDjy<%E=ٔ o9Y=hFy<E%>!Q 5-4%YP?Q 9-4%f)!Y1y5?Q I5?%DI%h:i%:%l4y9ɮEAAblYzlarlajlaZyZyZyZ}.?i)顑iIM:@I @Q@Q@QIԩIO=DDAT read: Rx Time:04:15:23.6633 TRx dataTimestamp_ set to:1761538524.884266DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 \#Rx 104: Read range message, but no direction.yY? checking for new query: numPingsReceived=104, elapsed TxPingTime=53.989067EO EE*E"E;*E:VE(N4ZEa@a@a@a@  checking for new query: numPingsReceived=104, elapsed TxPingTime=54.237686m,'0Jw?A2,&@2 @2<ٱ2y|; :AHRS rotation from veh to nav: [[0.432987,0.901389,0.004508],[-0.901205,0.432992,-0.018648],[-0.018761,0.004012,0.999816]]2H?-?vr? #?'6np?~?i2,&@I22_;2[CYRByR Ili-Mb@Mb@Mb@)))) )9-A`"{Gz?{Gzt?Y-ٽy-ף<AYA]@ABe>BaBes IBesBBe =BaBaBet;Be/E-ף;-h@-@ -@)-Q@)Y-@bDVDy v<% ;=ٔ 9Y=hFyL<E>!Q 5-4%SO?Q 9-4%e)%7_BY-'=Q E-;y-?Q I5?%DI%:i% ;%mt4y=Bɮ=A=mEblYzlYrlYjlYZ}'=Z}'=Z}t =@Z}?i)顉iI )@) @)@)@)IIO&>DDAT read: Rx Time:04:15:24.1634 TRx dataTimestamp_ set to:1761538525.388262 DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 \#Rx 105: Read range message, but no direction.yYf?checking for new query: numPingsReceived=105, elapsed TxPingTime=54.4936641EM EE+E"Eˀ;*E>:VE [4ZEBEP,dw?A2CJ@2E@2T<ٱ2~_#< :AHRS rotation from veh to nav: [[0.436847,0.899528,0.003667],[-0.899071,0.436749,-0.030363],[-0.028914,0.009967,0.999532]]2HM?? n?0`?@{ i?+?i2CJ@I2M_;0YN|ByN~ I PPbDZVDZJyf%%fa=ٔf9hYh=jhFyhnF<En>pQ 5v4ruN?Q 9v4rd)r:_BYtyv?Q Iv?rDIr:ir:rz4y|ɮ~A|blzlrljl9Z1Z1Z1Z5 ?iI)IIIiQQIY]checking for new query: numPingsReceived=105, elapsed TxPingTime=54.742302@ @@ @IIO=aԑ DDAT read: Rx Time:04:15:24.6633  TRx dataTimestamp_ set to:1761538525.892246 DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0  \#Rx 106: Read range message, but no direction.y Y ? % checking for new query: numPingsReceived=106, elapsed TxPingTime=54.997059E O E 6E E "E ;*E  ;VE ZE a @a @a @a @Թ /,/~w?Aԁ=5[@=V@=W=ٱ=M; AHRS rotation from veh to nav: [[0.438619,0.898611,0.010602],[-0.897988,0.438715,-0.033874],[-0.035091,0.005337,0.999370]]=HV?j??P@?W yu??i=5[@I=^;=YCY}By IiuMb@Mb@Mb@qqqq q9u㥛 Mb`?Yuyuu;u~@u@ u@)uVAqYu3@bDVDk1yD:%/=ٔY9Y=hFyX;E>Q 543M?Q 94c)<_BY=Q E5Uchecking for new query: numPingsReceived=106, elapsed TxPingTime=55.245697BABABEl IBEnBBABABABEu;BE/E ,w?A2^@2Y@2=ٱ2@޲; :AHRS rotation from veh to nav: [[0.438967,0.898425,0.011815],[-0.897697,0.439093,-0.036588],[-0.038059,0.005455,0.999261]]2H ?@?n2? ?| Wv?`?i2^@I2^;0YRByR IbDZVDZffDDAT read: Rx Time:04:15:25.1634 fTRx dataTimestamp_ set to:1761538526.396391jDAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 n\#Rx 107: Read range message, but no direction.ydYff?drchecking for new query: numPingsReceived=107, elapsed TxPingTime=55.501190yv=%vm=ٔz _BYy@Q I? DI :i : 4y!ɮ%hA!Ee* Ee'Ee'Ea"Eea;*Ee";VEe'4ZEaBEe!Q}checking for new query: numPingsReceived=107, elapsed TxPingTime=55.750729y ,`ʱw?A0ɰ0YE|ByM~ I ep9Y=hFyE>Q 54K?Q 94b)@_BYyQ I?DIY;i]?;4y ɮ A bl1zl1rl1jl1AZQZQZQZQii)iiiiiqIqDDAT read: Rx Time:04:15:25.6633 TRx dataTimestamp_ set to:1761538526.900662DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 \#Rx 108: Read range message, but no direction.yY?checking for new query: numPingsReceived=108, elapsed TxPingTime=56.006268:@ @@ @II E]3 E]!E](EY"E]j;*E]:VE]c44ZEYae@ae@ae@ae@Om>iԑm checking for new query: numPingsReceived=108, elapsed TxPingTime=56.253639 ڻ,dww?A2K@2F@2 2=ٱ2; :AHRS rotation from veh to nav: [[0.436968,0.899419,0.010235],[-0.898889,0.437066,-0.031175],[-0.032513,0.004422,0.999462]]2H I? ?$?@ ?O쟿r??i2K@I2m^;0Y^yBybz IB~<A|B>BB` IBdBB =BBB u;B/EBBBB =B =C5iMb@Mb@Mb@ 9X9vMbp~jtx?Y}y;@ @)AY@bDVDyI%H=ٔ_Q->9Y=hFy?E>!Q 5-4% J?Q 9-4%a)%C_BY-=Q E5TDDAT read: Rx Time:04:15:26.1634 TRx dataTimestamp_ set to:1761538527.405745DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 \#Rx 109: Read range message, but no direction.yYf?checking for new query: numPingsReceived=109, elapsed TxPingTime=56.510555D}=D}4=EB E$E-E"Ew;*E;VEt4ZEBE9dYd=fhFydf$!Ej>hQ 554jI?Q 9=4jwa)jF_BY9y=j@Q I=?jDIjYEchecking for new query: numPingsReceived=109, elapsed TxPingTime=56.758209:@ @@@I)IAOU=A U Gi y N9 Y H@ DDAT read: Rx Time:04:15:26.6633  TRx dataTimestamp_ set to:1761538527.908278 DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0  \#Rx 110: Read range message, but no direction.y Y ?  checking for new query: numPingsReceived=110, elapsed TxPingTime=57.013084E < E 3E 'E "E ,r;*E t ;VE '4ZE a @a @a @a @,=w?A@@UV@U( @UY<ٱU:ӑ eAHRS rotation from veh to nav: [[0.430375,0.902611,0.008413],[-0.902486,0.430456,-0.015057],[-0.017212,-0.001112,0.999851]]UH C?0?`:?*?@֎ 򟑿9R ?iUV@IUj^;U[CYueByub I yyiMb@Mb@Mb@ 9~jt91Y1=5hFy15{E5>9Q 5E4=H?Q 9E4=ba)=E_BYMwr@ZF*@iI)IQQiQQIYa@ @@ @I)Echecking for new query: numPingsReceived=110, elapsed TxPingTime=57.261787IIO]3>ԑB>B CBS IBYBBBBBt;B/EԹ X,x?A2@2s@2ƍ<ٱ2 L :AHRS rotation from veh to nav: [[0.426596,0.904387,0.009944],[-0.904405,0.426652,-0.004322],[-0.008151,-0.007150,0.999941]]2H`[M??]? FN?ֳq@1I}?i2@I2^;0YBaByB] IRDDAT read: Rx Time:04:15:27.1634 RTRx dataTimestamp_ set to:1761538528.412232VDAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 Z\#Rx 111: Read range message, but no direction.yPYRf?P^checking for new query: numPingsReceived=111, elapsed TxPingTime=57.517033\bDbVDbk1yjڰ%jc=ٔnͼQ-n>9lYl=nhFypr@Er>tQ 5z4v3H?Q 9z4vPa)tY|y~)@Q I~?vDIvf;iva;v84yɮAbl!zl!rl!jl!D1zD1E=J E=:E=)E9"E=~;*E=$ ;VE=FA4ZE9BE=9AYI=MhFyIUEU>aQ 5m4eG?Q 9u4e=a)eD_BYqyyQ I}?aIeO;ier];e4yɮAblzlrljlZZZZi)iIqDDAT read: Rx Time:04:15:27.6633 TRx dataTimestamp_ set to:1761538528.917000DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 \#Rx 112: Read range message, but no direction.yY?checking for new query: numPingsReceived=112, elapsed TxPingTime=58.022640:@ @@ @IIO >IbE÷G4jEÔK4rE?0EUQ EUCEQEQ"EU;*EU;VEQZEQae@ae@ae@ae@yԡ e checking for new query: numPingsReceived=112, elapsed TxPingTime=58.269615 ,'Lx?A2%@2@2>:ٱ2D :AHRS rotation from veh to nav: [[0.418907,0.908029,0.000857],[-0.907984,0.418876,0.010426],[0.009108,-0.005146,0.999945]]2H]??L?3?@Z?6? u@?i2%@I2:^;0APAR?ABV>BTBTBTBTBTBTBVt;BV/EYlylIr=)r9Y=hFy!E>Q 54G?Q 94^a)B_BYQDDAT read: Rx Time:04:15:28.1634 TRx dataTimestamp_ set to:1761538529.420333DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 \#Rx 113: Read range message, but no direction.yYf?checking for new query: numPingsReceived=113, elapsed TxPingTime=58.525154DQDU<E]8 E]2E]&EY"E]n;*E];VE]4ZEYBE]۾9hYh=jhFyhnEn>pQ 5v4rG?Q 9v4r|a)rA_BYtyv6Q Iz?rDIr:ir:r]4y|ɮ~VA|blzlrljlZZZZ;B@i)iI=checking for new query: numPingsReceived=113, elapsed TxPingTime=58.777012:@ @@ @IIO=1 DDAT read: Rx Time:04:15:28.6634  TRx dataTimestamp_ set to:1761538529.924252 DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0  \#Rx 114: Read range message, but no direction.y Y  checking for new query: numPingsReceived=114, elapsed TxPingTime=59.029060Ei  Em JEm *Ei "Ei *Em ;VEm (N4ZEi au @au @au @au @i & ,סx?AE r@El@ElμٱE9 AHRS rotation from veh to nav: [[0.413009,0.910666,-0.010548],[-0.910376,0.413144,0.022956],[0.025263,0.000122,0.999681]]EH`n?@,$? n@!@p? ? ޙ??b?iE r@IE^;EXCYfByb I!iUMb@Mb@Mb@QQQQ Q9U9Y=hFyE>Q 54H?Q 94a)@_BY1ZDZ@i)i I I) :@  @@@I!I1O=/>IUchecking for new query: numPingsReceived=114, elapsed TxPingTime=59.285446B>BBZ IB^BBBBBt;B/Eyԩ E&,/Ox?A:Y@:[T@:ٱ:$; FAHRS rotation from veh to nav: [[0.410194,0.911863,-0.015723],[-0.911411,0.410488,0.028801],[0.032717,0.002516,0.999461]]:H`@?`-?`G*oE? !~?M?ਜd??i:Y@I:J^;:YCYJnByJm I PPbDVVDV y^C=%^n=fDDAT read: Rx Time:04:15:29.1634 fTRx dataTimestamp_ set to:1761538530.436507jDAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 n\#Rx 115: Read range message, but no direction.ydYddrchecking for new query: numPingsReceived=115, elapsed TxPingTime=59.541321ٔvQ-v>9tYt=zhFyxzk Ez>|Q 54~H?Q 94~a)~?_BY y ;Q I ?~DI~:i~:~ϯ4yɮBAE%H E%DE%+E!"E%};*E%h;VE% [4ZE!BE%e9QYQ=UhFyQ]E]>aQ 5m4exI?Q 9m4ea)aYiym;Q Im?aIe:ie:e֯4yyɮ}2AyblzlrljlZZZZ@i)iI:@ @@ @IDDAT read: Rx Time:04:15:29.6633 TRx dataTimestamp_ set to:1761538530.940512DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 \#Rx 116: Read range message, but no direction.yY?checking for new query: numPingsReceived=116, elapsed TxPingTime=60.045341IO>EMV EM4EM*EI"EM;*EM ;VEM(N4ZEIaU@aU@aU@aU@A } checking for new query: numPingsReceived=116, elapsed TxPingTime=60.293697W3,6x?AB"<A B$B& CB&l IB&nBB& =B$B$B&u;B&/E0B(@B"@B)ٱB ; JAHRS rotation from veh to nav: [[0.404548,0.914224,-0.023157],[-0.913579,0.405150,0.035031],[0.041408,0.006984,0.999118]]BH? RA?a <??`p3?|??iB(@IB^;@YnwBynx Ii Mb@Mb@Mb@     9 I +?I +?Y 949YYY=]hFyYeEe>iQ 5u4m_J?Q 9u4ma)iYuM:@I @I@M @IIYIiO}7>ԹDDAT read: Rx Time:04:15:30.1633 TRx dataTimestamp_ set to:1761538531.444306DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 \#Rx 117: Read range message, but no direction.yYchecking for new query: numPingsReceived=117, elapsed TxPingTime=60.549133E]M E]VE],EY"E]ˀ;*E];VE]g4ZEYBE]PAHRS rotation from veh to nav: [[0.401672,0.915489,-0.023225],[-0.914864,0.402276,0.034599],[0.041018,0.007350,0.999131]]6H?K?<ȗF@? ?@S?@~?@?i62@I6"^;4YF~ByF IIJ%=)J<bDR VDRf2yZ&=%Zi=ٔZ:Q-Z>9\Y\`=bhFy`bEf>dQ 5j4fK?Q 9n4fa)dYlyn6JQ In?dIfo;if;f4ypɮvAtbl zl rl jl Z!Z!Z!Z%m{@i9)999i9AIAEchecking for new query: numPingsReceived=117, elapsed TxPingTime=60.798115:@ @@@IIO= DDAT read: Rx Time:04:15:30.6632  TRx dataTimestamp_ set to:1761538531.948315 DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0  \#Rx 118: Read range message, but no direction.y Y ?  checking for new query: numPingsReceived=118, elapsed TxPingTime=61.053150A Em 0 Em IEm 'Ei "Em Jg;*Em ;VEm '4ZEi au @au @au @au @m@,y?Asߜ@Eڣ@Ϣٱb5; AHRS rotation from veh to nav: [[0.396590,0.917827,-0.017590],[-0.917478,0.396937,0.025988],[0.030834,0.005832,0.999507]]Ha?^?<@[`lg? ??w? ?isߜ@I^;YyiMb@Mb@Mb@ 9Mb?Yy<$@@ @)$@Y@bDVDٔZ9Y=hFyEE>Q 54K?Q 94a)YEchecking for new query: numPingsReceived=118, elapsed TxPingTime=61.301723B=>B9B= IB=}BB= =B9B9B= u;B=/EB CB CBBBC%4ԑԹ F,y?AVDDAT read: Rx Time:04:15:31.1633 VTRx dataTimestamp_ set to:1761538532.452288ZDAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 ^\#Rx 119: Read range message, but no direction.yTYV?Tbchecking for new query: numPingsReceived=119, elapsed TxPingTime=61.557144YnByr IE%` E%1E%*E!"E%i;*E%f;VE%(N4ZE!BE%49AYA=EhFyAMEM>QQ 5}4UL?Q 9}4Ua)QYyyyQ I}?UDIU:iUd:U4yɮAblzlrljlZZZZiQ)YYYiYaIaq@ @@ @II O*>]checking for new query: numPingsReceived=119, elapsed TxPingTime=61.806370 L,@5y?A:)Ɯ@:@:ٱ: ƹ BAHRS rotation from veh to nav: [[0.393834,0.919138,-0.008930],[-0.918880,0.393935,0.021798],[0.023553,-0.000379,0.999723]]:H4?@i?I@vg`<6?@/R?O?`]8 ?i:)Ɯ@I:۞^;:ZCYJByJ IN=LRAAPbDVVDV:y^=%^f=ٔ^9`Y`=bhFy`bEf>dQ 5n4f M?Q 9n4fba)dYlyn6?Q In?dIf:ifl:f4ypɮvnAtblzl rl jl ZIZIZIZM6?G1I9Y@i)顑iIDDAT read: Rx Time:04:15:31.6632 TRx dataTimestamp_ set to:1761538532.956985DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 \#Rx 120: Read range message, but no direction.yY?T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.E%. E%8E%'E!"E%ye;*E% ;VE%'4ZE!a-@a-@a-@a5@9@9 @A@E @AIiIO>QU 2Acoustic response timeoutq A) A- @AB5 >B1 B5 IB5 BB5 =B1 B1 B5 /u;B5 /ES,OOy?A2@2ϗ@2mٱ2b˯ :AHRS rotation from veh to nav: [[0.389271,0.921122,-0.001162],[-0.920990,0.389236,0.016528],[0.015677,-0.005364,0.999863]]2H?y?-Sx`>?@? ?`u ?i2@I2|^;2YCY~By~ IiMb@Mb@Mb@ 99Y=hFy;E>Q 54M?Q 941a)>_BYżԁ*DAT read: user:122> DAT read: 50 :unknown deviceResponse_: 50 DAT read: Ok :unknown deviceResponse_: Ok 2Acoustic response timeoutD==D=%=EEI EE9EAEA"EE};*EE ;VEAZEABEE.^;2UCYNByR IbDZVDZNyb=%b^=ٔb9dYd=fhFydj9Ej>hQ 5=4j4N?Q 9E4j a)j=_BYAyEKL?Q IE?jDIjWe  2Acoustic response timeoutbE:4jEh=4rE\00EM N EM =EI EI "EM @;*EM ;VEI ZEI a] @a] @a] @a] @9 `,y?A ɰ"p;YBy II4=)=bD VD2y %7=ٔ%Q-%>9)Y1==hFy9=E=>AQ 5M4EN?Q 9M4E`)E;_BYIyQQ IU?AIE;iE;E4yYɮ]hAablyzlyrlyjlZZZZi)顩iIi@i @i@m @iIyIO>-2Acoustic response timeoutB>BBBBBBB.u;B/E9i wf,y?A B2Acoustic response timeoutD~?AzD~@AE EME-E"E*E%;VEt4ZEBE9!Y!=%hFy!!E->)Q 5=4-O?Q 9=4-`)-=_BY=Bԙ52Acoustic response timeout m,y?A6P@6"@6u<ٱ6I; >AHRS rotation from veh to nav: [[0.362702,0.931905,0.000861],[-0.931685,0.362636,-0.021417],[-0.020271,0.006965,0.999770]]6H 6?`*?9L?\l5?<@|?@?i6P@I66^;6WCYFvByFw ITbDbVDbyj[%ja=ٔn=Q-n>9pYp=rhFypr*}Ev>tQ 5z4vPO?Q 9z4v`)v?_BY|y~u>?Q I~?tIvj;iv;v*4yɮ A bl)zl)rl)jl)ZAZAZAZEu>?iY)YYYiYaIaiim>@ @@ @I!I1OE=2Acoustic response timeoutEC EAE*E"Ex;*E;VE(N4ZEa@a@a@a@! E 2Acoustic response timeoutB <A 4=B B B  IB }BB B B B t;B /Exs,y?A2Ql@2#g@2v<ٱ2d< :AHRS rotation from veh to nav: [[0.354671,0.934989,0.002206],[-0.934600,0.354590,-0.028073],[-0.027031,0.007895,0.999603]]2H@? m?Pb???9㭛 +?`?i2Ql@I2H_;2YCYRbByV^ I XX|iMb@Mb@Mb@ 9I +?~jt~jtx?Y99Y=hFy E >Q 5%4/O?Q 9%4`)A_BY-2Acoustic response timeoutE-3 E-3E)E)"E-j;*E-t ;VE)ZE)BE-9QYQY=ehFyamEm>qQ 5}4uO?Q 94u;u+4yɮAblzlrljlZZZZ2Acoustic response timeouti )   i I@ @@ @IIO>ԑԱ 2Acoustic response timeoutE- @ E- DE- )E) "E- u;*E- h;VE- FA4ZE) a5 @a5 @a5 @a5 @ @ ,Xz?A w@ |r@ N<ٱ g; EAHRS rotation from veh to nav: [[0.326603,0.945152,0.004250],[-0.944768,0.326594,-0.027369],[-0.027256,0.004924,0.999616]] H? >? hq?;@?蛿+t?`?i w@I ^; XCԱYOByF IbDMVDMy}c?%}8=ٔ}:Q->9Y=hFyYE>Q 54N?Q 94a)F_BYy!޿Q I?DI:i:_34yɮ=A bl!zl)rl)jl)ZAZAZAZE_@iQ)YYYiYaIai2Acoustic response timeout@ @!@% @!I1IAOM1>B>BBZ IB^BB =BBDBt;B/E 9 /0,J&z?Aɰ;22Acoustic response timeoutZ $@Z@Zv<ٱZ Y; bAHRS rotation from veh to nav: [[0.316997,0.948425,0.002042],[-0.948214,0.316970,-0.020484],[-0.020075,0.004557,0.999788]]ZH I?`~Y?@`?@W`>I?`}&r?C?iZ $@IZ ^;ZZCYjCByj8 IEr? Er2Er+Ep"Ert;*Er;VEr [4ZEpBErX9Y=hFy޼E>Q 54wN?Q 94b)G_BYvs=Q E_A2Acoustic response timeoutiԙ OZ,m8z?ABԙ@BϠ@Bޗ2<ٱBk; NAHRS rotation from veh to nav: [[0.307871,0.951428,-0.000808],[-0.951366,0.307841,-0.011718],[-0.010900,0.004377,0.999931]]BH@)?r?j{J@q@?R`)q?@o?iBԙ@IBj^;BYCYf'Byj IbDrVDr0yz%zV=ٔzļQ-~>9|Y|=hFyϼE> Q 54 M?Q 94 b) H_BYyQ I? DI D;i ; @4y!ɮ%zA!blAzlArlAjlAZaZaZaZe@iq)qqyiyyIq@ @@ @I IO-=u2Acoustic response timeoutE. EcE.E"Eye;*E";VEـ4ZEa@a@a@a@ԡ% 2Acoustic response timeoutAy Ay B >B B . IB ;BB =B B DB t;B /EBM CBM CBIBM =BM =CM#5 F,_Qz?A6@6@6!9ٱ6s^: BAHRS rotation from veh to nav: [[0.299746,0.954019,-0.000676],[-0.954019,0.299746,-0.000679],[-0.000445,0.000849,1.000000]]6H /?@R?`)FR/?@V9 Y = hFy ME>Q 54M?Q 9%4c)G_BY%=Q E%u2Acoustic response timeoutE? EE)E"Et;*E:VEFA4ZEBEa2EaJEVN9tYx=zhFyxzE~>Q 5 4GM?Q 94d)F_BYyؿQ I?DI=;i>;N4y!ɮ-2A)blQzlQrlQjlQ2Acoustic response timeoutZZZZ%@i)))))i)1I9I:@ @@@I I!O5 > ))ԁG69Y@ 2Acoustic response timeoutԡ E 1 E =E E "E 2h;*E ;VE ZE a @a @a @a @\T,z?A@Jv*@JH%@JiٱJ1 RAHRS rotation from veh to nav: [[0.287954,0.957642,0.002232],[-0.957393,0.287824,0.023558],[0.021917,-0.008921,0.999720]]JHm??Ib? k?{?`wq?E?iJv*@IJw^;JXCYZByZIbDrVDry ?n% H=ٔ޼Q->9)Y)=-hFy)=QEE>QQ 5u4UL?Q 9}4U~e)QYy5ٿQ I?UDIU;iU;UU4yɮAblzlrljlZZZZt’@i!)!!!i!)I)ԩ:@ @@@I2Acoustic response timeoutIO'>BIBIBM IBMBBM =BIBIBMt;BM/E I~,mz?A"2Acoustic response timeout6 @6W@63ٱ6l4 >AHRS rotation from veh to nav: [[0.284372,0.958712,-0.001702],[-0.958168,0.284270,0.033237],[0.032349,-0.007821,0.999446]]6H'3?ŭ?Y[Oz1?@{? ? ] v?i6 @I6d^;6WCYFByFIEb= Eb,Eb'E`"Ebs;*Eb;VEb'4ZE`BEb9Y=hFyC E>Q 54L?Q 94f)D_BYj=Q E@ @@ @I)I!O5 >Q2Acoustic response timeoutԁ a,Hz?A2@2@2.ٱ2Ë :AHRS rotation from veh to nav: [[0.282664,0.959188,-0.007749],[-0.958270,0.282735,0.042184],[0.042653,-0.004499,0.999080]]2H,?@? &@S?'?֥?@(mr@v?i2@I2^;0YBByBIDFA J;J4<bDLVDLyV%V^=ٔVQ-V>9XYX=ZhFyXZE^>`Q 5f4bL?Q 9f4bg)bC_BYdyfFȿQ If?bDIb:ib:bc4yhɮn/Alblxzl|rl|jl|ZZZZU@i)))))i)1I1y5:@1 @1@1@1IAU2Acoustic response timeoutIYOm=bEU(N4jEUüP4rEU]%0EH EWE*E"E};*Ej;VE(N4ZEa@a@a@a@ԩ 2Acoustic response timeout BA AE <BM >BI BM IBM BBM =BI BI BM t;BM /E",oz?Af@f@fVٱfT: rAHRS rotation from veh to nav: [[0.281621,0.959392,-0.016012],[-0.958091,0.282073,0.049957],[0.052445,0.001272,0.998623]]fH?W?e @| ?@?ڪ?`T? ?if@If^;fVCYByIԱiMb@Mb@Mb@ 9Q?MbMb`?Yu=y;@ ;@)@YbD VD2y\<%6=ٔQ->9Y=hFy E>Q 5 4L?Q 9 4Sh)E_BY z~=Q EUE2Acoustic response timeoutD=DC=E" EE-E"EZ;*EGA;VEt4ZEBE9!Y!=%hFy!%%B;E->)Q 5=4- M?Q 9=4-h)-G_BY9y=ſQ I=?-DI-a;i-;-r4yIɮMAIblizlirlijliZZZZƚ@i)顙iI2Acoustic response timeout1-:@1 @1@1@1IQIaO}=Yԉm 2Acoustic response timeoutE B E 3E &E "E w;*E t ;VE 4ZE a @a @a @a @Ա F,^{?A2@2w @2Iٱ2; >AHRS rotation from veh to nav: [[0.284464,0.958379,-0.024283],[-0.956282,0.285452,0.063572],[0.067858,0.005137,0.997682]]2H@4? ?ݘ@ݙD?AF?_? u??i2@I23^;2XCYBByFIbDZVDZyf4%fP=ٔfvQ-f>9hYh=jhFyhjc;En>)Q 5E4-M?Q 9M4-i)-J_BYQy}ſQ I?-DI-8BBBBBBBt;B/E%:@! @!@% @)I1IIOU2> t, {?A2Acoustic response timeout66@60@6oٱ6; BAHRS rotation from veh to nav: [[0.288672,0.957046,-0.027048],[-0.954867,0.289850,0.064929],[0.069980,0.007084,0.997523]]6Hy??k`E? 8?:?}??i66@I6^;6UCYJ ByJIDR@AzDPEVk EV'EV,ET"EVf;*EV";VEVg4ZETBEV9Y=hFyE&<E>Q 54MM?Q 94i)K_BY2Acoustic response timeoutI ,і:{?A 2l@2pg@2ٱ2y < >AHRS rotation from veh to nav: [[0.295071,0.955064,-0.028035],[-0.953081,0.296280,0.062077],[0.067594,0.008402,0.997678]]2Hp?`?+`B?ȯ? M?H5?`?i2l@I2 ^;2XCYFByFIbDNVDNk1yV{=%V_=ٔZ;Q-Z>9XYX=ZhFyX^ǔ<E^>`Q 5f4bzM?Q 9f4bj)bL_BYdyjQ Ij?bDIbl:ibd:b4ylɮn Albl|zl|rl|jlZZZZ@i))))1i11I9IEhA)A:@ @@ @IIO=M2Acoustic response timeoutiE2 EE)E"Ei;*EVEFA4ZEa@a@a@a@ԙ A A AAB B B IB BB =B B B t;B /E 2Acoustic response timeout,:uT{?AF9@F @F{ٱFK;L VAHRS rotation from veh to nav: [[0.302931,0.952664,-0.025771],[-0.951032,0.303934,0.056243],[0.061413,0.007472,0.998084]]FH9c?9|?cn`s?ˬ?@q?`~?N?iF9@IF^;FYCY^"By^ IIb%=)b;iEMb@Mb@Mb@AAAA A9EˡEQ?YE'yEu9qYq=uhFyq}e<E}>Q 54M?Q 94i)K_BY2=Q E]2Acoustic response timeoutD%=DR=ED E*E,E"Eny;*E;VEg4ZEBECAHRS rotation from veh to nav: [[0.311374,0.949974,-0.024392],[-0.948836,0.312214,0.047244],[0.052496,0.008433,0.998586]]2H?`0f? -\ R?`c0?@?rE?i?i2@I2sz^;2VCYB5ByF& IbDNVDNN2yV=%VX=ٔV9XYX=ZhFyX|^<E~>Q 5 4M?Q 9 4.i)J_BYy?Q I?DI:i:;4y9ɮ= AAblyzlyrljl2Acoustic response timeoutZZZZ&?i)iI:@ @@@IIO=)Qm 2Acoustic response timeoutE Z E QE )E "E ;*E A;VE FA4ZE a @a @a @a @ԁ n,-"{?A2E@2?@2 .ٱ2; :AHRS rotation from veh to nav: [[0.320596,0.946997,-0.020382],[-0.946263,0.321165,0.037945],[0.042480,0.007122,0.999072]]2H঄?M? ߔ G?m??@,}?e?i2E@I2^;2WCYNMByRD IbDZVDZyb[=%bI=ٔb9dYd=fhFydf<Ej>hQ 5z4jM?Q 9~4jh)hYy ?Q I ?jDIj;ij;j.4yɮHAYblYzlYrlajlaZ!Z!Z!Z%??ia)iiiiIi>ԉ2Acoustic response timeoutBBB! 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(?@N`= *?iR@IRw^;RTCYrByv IiMb@Mb@Mb@ 9{Gz{GzYףyף@ @)lAY@AAAAbDVDky%==ٔ;Q->9Y=hFyCE>Q 54@?Q 9-4V)Y-YD]=D]R=EeB Ee\EaEa"Eew;*Ee ;VEaZEaBEe9!Y!=%hFy!-μE->9Q 5E4=C??Q 9M4=V)=2_BYIyU+@Q IU?9I==;i=!.;=;4yaɮeuAablzlrljlZZZZG+@i)顱iI2Acoustic response timeoutQ@Q @Q@U @QIaIqO= Cԩ G)EAm9qYu@E 3 E 1E )E "E j;*E f;VE FA4ZE a @a @a @a @ 2Acoustic response timeout B, }?A2@2@2[=ٱ2 :AHRS rotation from veh to nav: [[0.311740,0.949977,0.018997],[-0.948650,0.312310,-0.050252],[-0.053672,-0.002356,0.998556]]2H?7f?s?W[?zLc`+?i2@I2^;0YRkByRi IbDZVDZyb%bP=ٔb'Q-b>9dYd=fhFydjEj>hlQ 5r4jn>?Q 9r4jV)hYtyv*+@Q Iv?jDIj-;ij.;j4yxɮzWAxblQzlQrlQjlQZZZZ*+@i)iIIgA)fA@ @@@I IOm>B>B CB IBBB =BBBu;B%0E2Acoustic response timeout1a I,%}?AEC EE*E"Ex;*EVE(N4ZEBEz9Y=hFyE>Q 54e>?Q 94tW)1_BY%=Q E%6ԑ2Acoustic response timeout /O,?}?A6Q}@6#x@6=ٱ6H2 >AHRS rotation from veh to nav: [[0.297484,0.954627,0.013782],[-0.953987,0.297790,-0.035059],[-0.037572,-0.002718,0.999290]]6H ?N?9?`@?8`<Ef/?i6Q}@I69^;6TCYF3ByF% IbDRVDRyZg/%Z_=ٔZ(μQ-Z>9\Y\=^hFy\bEb>dQ 5j4fZ>?Q 9j4f'X)f0_BYhyj˿Q Ij?fDIf:if_:f)4ypɮrApblzlrljlZ!Z!Z!Z%X,@i1)111i19IAԙ@ @@# @IIO=bEFA4jEKJ4rEA0E5/ E59E5'E1"E5af;*E5 ;VE5'4ZE1aE@aE@aE@aE@u2Acoustic response timeoutA @AA AAB >B B S IB YBB =B B B u;B (0E% 2Acoustic response timeout) V,\Y}?A2P@2VK@2+<ٱ2J :AHRS rotation from veh to nav: [[0.292360,0.956253,0.010282],[-0.955920,0.292531,-0.025340],[-0.027239,-0.002420,0.999626]]2H???@Ҹ?@ 䛿c?i2P@I2n^;0Y^By^ IiEMb@Mb@Mb@AAAA A9Ep= ף? rhMb?YE>yECE9qYq=uhFyq}pQE}>Q 54$??Q 94Y)2_BY>Q E;yQ I?DI':i:4yɮAblzlrljlZ>Z>Z@Z$@i)iI i >:@ @@& @IIO>!EE4 EE1EE(EA"EEj;*EEf;VEEc44ZEABEE91Y1=5hFy1=LE=>AQ 5M4E??Q 9M4EZ)E5_BYIyM%Q IM?EDIE :iE:E"4yYɮ]AYblyzlyrlyjlyZZZZi@i)顩iI2Acoustic response timeoutQi@i @i@m% @iIyIO=yԩEM 3 EM CEI EI "EM j;*EM ;VEI ZEI aU @a] @a] @a] @ 2Acoustic response timeout (c, A}?A2"@2@2 ;ٱ2a陻 :AHRS rotation from veh to nav: [[0.287141,0.957869,0.006059],[-0.957873,0.287167,-0.003854],[-0.005432,-0.004697,0.999974]]2H``? ݦ?Bx?``?`o?v=s?i2"@I2wr^;0YBByBIbDJ VDJ2yRn%VS=ٔVQ-V>9TYX=ZhFyXZǥEZ>\Q 5b4^@?Q 9f4^F\)^8_BYdyfbQ If?^!DI^:i^:^P)4yhɮjxAlblxzlxrlxjl|ZZZZ<@i!))))i)1I1@ @@) @!IaIO=BM>BIBM IBMBBIBIBIBMu;BM/0E2Acoustic response timeout 9 Ri,;}?AE+ EE*E"Eb;*EA:VE(N4ZEBEy==D;=@=@ =@)=@9Y=@bDUVDUye*%e?=ٔenQ-e>9iYi=mhFyiuJ\Eu>yQ 54}B?Q 94}^)}:_BY,Z>Q Ey;y7Q I?}'DI}:i}C:}04yɮAblzlrljlZM,Z>ZM,Z>ZMv@ZM@i)顉iIm:@i @i@m, @iIyIO>92Acoustic response timeouti :p, }?A4<ɰ; 6+@6&@6qٱ6" >AHRS rotation from veh to nav: [[0.288114,0.957587,0.004091],[-0.957411,0.287972,0.020871],[0.018807,-0.009930,0.999774]]6Hvp? ?p? 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E!E(E"Et;*E:VEc44ZEa@a@a@a@I 8%,?ᔼ?A 6|@6N@6܂߼ٱ6n* >AHRS rotation from veh to nav: [[0.475861,0.879455,-0.010694],[-0.879097,0.475974,0.025232],[0.027281,-0.002606,0.999624]]6Ht?$?慿! \v?o֙?`x?@cXe`?i6|@I67E_;6=CYJByJ I LLR >R=VAAVBAI9bD^VD^βyf'>%fS=ٔfCj=Q-f>9hYh=jjFyhn=En>pQ 5v4rFN?Q 9v4r`)rZ`BYtyv?Q Iv@r DIr:ir:r~4y|ɮ~xA|blzlrljlZ9Z9Z9Z=Z?iI)IIIiIQIQ:@ @@ @I!I9OE=i2Acoustic response timeoutB<A<BYBYB]l IB]nBB] =BYBYB]u;B]/Eԙ  2Acoustic response timeoutE , E =E +E "E c;*E ;VE [4ZE BE a 2E a JE o%,?AB/@B@BlٱB JAHRS rotation from veh to nav: [[0.486746,0.873542,-0.001813],[-0.873387,0.486697,0.017914],[0.016531,-0.007136,0.999838]]BH&? ?&]@ &?W?h?:} ?iB/@IB_;B:CPY~By~ IiMb@Mb@Mb@ 9HzGy&1?Mb`Y= y`e=;@$@ h@)@Y@bD VD:2y"=%<=ٔY9Y=jFyS<E>Q 54M?Q 94^)X`BY>Q E;y?Q I@ DI#;iY;4yɮ2AblIzlIrlQjlQZ>Z>Zw/@Z?i)iI@ @@ @IIO>2Acoustic response timeout! -E%,?A2t@2co@2F֙ٱ2Y :AHRS rotation from veh to nav: [[0.496838,0.867843,-0.000644],[-0.867830,0.496835,0.005041],[0.004695,-0.001946,0.999987]]2H`2?^?@AE`D $?t? :s?_?i2t@I2^;2>CYFByF IbDNVDN:yV=%V^=ٔVu=Q-Z>9XYX=ZjFyX^<|E>!Q 5-4%M?Q 9-4%f])%W`BY)y-H?Q I-@% DI%:i%z:%4y9ɮ=A9blYzlYrlYjlYZyZyZyZ}H?i)顉iI=2Acoustic response timeoutE}# E}/E}-Ey"E}[;*E}Y;VE}t4ZEya@a@a@a@@ @@@I!I9OE=)Q 2Acoustic response timeoutԁ B >B B IB BB =B B DB t;B /EhZK%,Z/?An)@n@n;ٱn; vAHRS rotation from veh to nav: [[0.504818,0.863224,0.001590],[-0.863197,0.504815,-0.007312],[-0.007114,0.002319,0.999972]]nHw'?? Z?`Nq'? }@#}b?@?in)@In|^;n@CYBy II <) =AAQiMb@Mb@Mb@ 9~jtÿv/?MbpYyxi=@@ ;@);@Y3@ <bDVDyv=%5=ٔY9Y!=%jFy!%<E%>)Q 554- L?Q 9=4-[)-V`BY=H&>Q E=;y=?Q I=@- DI-:i-:-n4yAɮEAIblazlarlijliZH&>ZH&>Z2@Z?i)顙iIԁ:@ @@ @IIO%>E2Acoustic response timeoutE' E-E.E"E _;*EK;VEـ4ZEBER%,YjI?A2@2s@2D<ٱ2 (x; :AHRS rotation from veh to nav: [[0.509737,0.860308,0.006156],[-0.860132,0.509760,-0.017815],[-0.018464,0.003786,0.999822]]2H@O? ?@6y?3O?>I蒿o??i2@I2^;2:CR2Acoustic response timeoutYVłByV IbD^VD^02yf=%fc=ٔj=Q-j>9hYh=jjFyln<En>pQ 5v4r.K?Q 9v4rZ)pYxyz?Q Iz@r DIr:ir:r4y|ɮ~Ablzlrljl!Z9Z9Z9Z=8?iI)IQQiQQIYԹ @ @@ @I!I1O==U2Acoustic response timeoutbEFA4jE#E4rE0E# EE+E"E[;*EA:VE [4ZEa@a@a@a@A hX%,Dc?Aɰ4<2@2@2 <ٱ2v< < :AHRS rotation from veh to nav: [[0.511202,0.859422,0.008103],[-0.858940,0.511198,-0.029992],[-0.029918,0.008372,0.999517]]2H[?c?3?n|[?V 碞`%? ?i2@I2^;29|Y|=jFy;E> Q 54 1J?Q 94 PX) Yy?Q I@  DI ;i @; ᧷4y!ɮ% A!blAzlArlAjlAZaZaZaZe?iq)qqyiyyIIgA)hAY:@ @@ @I!I1OE=2Acoustic response timeoutԡAA@AB>BB IBBB =BBDBt;B/Eԩ 2Acoustic response timeoutE  E E *E "E *E :VE (N4ZE BE g9Y=jFy&,E>Q 54H?Q 94V)X`BYC>Q E;yr?Q I@ DI ;i ;r4yɮ ;A bl!zl)rl)jl)ZEC>ZEC>ZEW7@ZEvr?iY)YYYiYaIaԱm:@i @i@i@iIyIO>2Acoustic response timeout 9 ze%,?A2ˠ@2dƧ@2K=ٱ22< :AHRS rotation from veh to nav: [[0.505411,0.862706,0.017269],[-0.861455,0.505625,-0.047309],[-0.049546,0.009034,0.998731]]2HS,?I? ?` .?8`^q??i2ˠ@I2^;0YF΂ByF IbDNVDNyVT%V_=ٔV9XYX=ZjFyX^fE^>`Q 5f4bpG?Q 9f4b)U)bY`BYdyj?Q Ij@b DIb:ib :b׵4ylɮnDAlblzlrljlZZZZ?i1)111i19I=2Acoustic response timeoutDU=DU4=EeP EeUEaEa"Ee(;*Ee\;VEaZEaam@am@au@au@I@Q @Q@U @QIaIqO}=Ai  2Acoustic response timeoutB >B B IB BB B B DB t;B /Eηk%,&?A hh-@-@-Uc=ٱ-;7< EAHRS rotation from veh to nav: [[0.497814,0.867053,0.019990],[-0.865499,0.498136,-0.052653],[-0.055611,0.008910,0.998413]]-H/??7x?+@t?_y??`?i-@I-n^;)YUByU Ii Mb@Mb@Mb@     9 ~jt?Mb`Y ̽y D<    @) lA Y @bD%VD%Ny5 %52=ٔ=X99Y9==jFyAEEE>IQ 5U4ME?Q 9U4M T)M[`BY]O=Q E]i>i@ @@ @IIO >%2Acoustic response timeoutEE- EEIEE/EA"EEd;*EE ;VEEJ4ZEABEE=AHRS rotation from veh to nav: [[0.487565,0.872852,0.020260],[-0.871175,0.487901,-0.054839],[-0.057752,0.009088,0.998290]]6HB4?g??9?@{? ?i6$@I6^;6:CYJByJ IIN=)N<R2Acoustic response timeoutbDZVDZ`yb I%bh=ٔf;Q-f>9dYd=jjFyhjEj>lQ 5r4nD?Q 9r4n.S)n]`BYtyv ?Q Iv@n DInd:in9:nķ4yxɮzAxbl)zl)rl)jl)ZaZaZaZe ?iy)顁iI@ @@ @I!I1OE=U2Acoustic response timeoutDqzDuAAE}M E}%E}+Ey"E}ˀ;*E};VE} [4ZEya@a@a@a@A ٶx%,ڌ䕼?A2ͬ@2@2d=ٱ2ʑ< :AHRS rotation from veh to nav: [[0.474794,0.879878,0.019643],[-0.878325,0.475135,-0.052840],[-0.055826,0.007835,0.998410]]2Hc?'? P?<h?` * ? ?i2ͬ@I2&_;29XYX=ZjFyX^E~>Q 5 4C?Q 9 4,R)^`BY y.?Q I@ DIp:i:)˷4y9ɮ=XA9blyzlyrlyjlyZZZZt.?i)iI@ @@ @2Acoustic response timeoutIIO>IBBB IBBB =BBBt;B/EBIBIBIBIBICMSO5yԡ e 2Acoustic response timeoutE L E (E *E "E W;*E ;VE (N4ZE BE 9iYi=mjFyimWEu>yQ 54}hB?Q 94}R)}_`BYH2Acoustic response timeout! ȅ%,B?A:E|@:w@:/=ٱ:VD; FAHRS rotation from veh to nav: [[0.442108,0.896861,0.013450],[-0.895944,0.442271,-0.040999],[-0.042719,0.006076,0.999069]]:HK???`+N?@Bߥx?^?i:E|@I:-_;:9tYx=zjFyxz`Ez>|Q 54~A?Q 9 4~Q)~``BY y 2@Q I @~ DI~:i~7:~Dٷ4yɮAbl1zl1rl9jl9ZQZQZQZU2@ia)iiiiiqIq%2Acoustic response timeoutEEa EEAEE(EA"EE݉;*EE;VEEc44ZEAaM@aM@aM@aU@:@ @@ @IIO=!Q 2Acoustic response timeoutBe >Be CBe s IBe sBBe =Ba Be DBe ,u;Be /Ey G%,Q02?AUם@UҤ@U =ٱUڧ; mAHRS rotation from veh to nav: [[0.424195,0.905531,0.008473],[-0.904930,0.424228,-0.033652],[-0.034067,0.006608,0.999398]]UH &??Z?/&?:@q@{??iUם@IU0_;U=CY}hBy}f IiMb@Mb@Mb@ 9S㥫?/$~jth?Y/]=y,D;`@@ @)hAY@bDVDy-Ž%-7=ٔ5Q-5>91Y9==jFy9=7E=>AԉQ 54E@?Q 94ER)AY==Q EA%2Acoustic response timeoutEEH EE,EE*EA"EE};*EE;VEE(N4ZEABEEe9Y=jFy^E>yQ 54}v@?Q 94}gS)}a`BYyQ I@} DI} :i}:}4yɮFAblzlrljlZ)Z)Z)Z-v @iA)AAAiAIIII]hA)Y:@ @@ @IIO >52Acoustic response timeoutEUV EU5EU(EQ"EU;*EU ;VEUc44ZEQae@ae@ae@ae@I %,e?A V @Vݕ@Vdu<ٱVO; nAHRS rotation from veh to nav: [[0.389057,0.921206,0.003919],[-0.921092,0.389071,-0.014623],[-0.014995,0.002080,0.999885]]VHM?z?@ p?y`? s a??iV @IV,_;V:CY]ABy]6 IeAeAbDmVDmNym^%>=ٔQ->9Y=jFy'4E>Q 54??Q 94#T)b`BY y |Q I @ DI:i|:4y1ɮ5A9blQzlQrlYjlYZqZqZqZup@i)顉iIi2Acoustic response timeout-:@) @)@- @1IIIYOm>B B B A IB JBB  =B B B u;B /Eԙ E 2Acoustic response timeoutEe M Ee bEe *Ea "Ee ˀ;*Ee 5";VEe (N4ZEa BEe PyY@ )@Y=@bD VD2yp%J=ٔϼQ->9Y=jFy/E>Q 54??Q 94U)a`BY>Q E;yȿQ I@ DI:i:4yɮAblzlrljlZ>Z>Z1@Z@i)顩iI:@ @@@IIO>2Acoustic response timeout! 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DIn:ind:n-4yxɮzuAqblzlrljlZZZZT@i)iI@ @@ @IIO=2Acoustic response timeoutD zD ?AEU E,E)E"El;*E;VEFA4ZEa%@a%@a%@a%@A 5%,ch?A2ӭ@2@2N䐽ٱ2; :AHRS rotation from veh to nav: [[0.332133,0.942788,-0.028944],[-0.940580,0.333343,0.064745],[0.070689,0.005720,0.997482]]2HA?R+?`^ ;@}U? !??mw?`_?i2ӭ@I2^;27CYF4ByF% IbDNVDNkyVYw=%VL=ٔZ;Q-Z>9XYX=^jFy\^<E^>`Q 5f4bD?Q 9f4bb)bz`BYhyjQ Ij@b$ DIb:ib:b44ylɮrApblzlrljlZ!Z!Z!Z%J@i1)119i99IA:@ @@ @I IO-=U2Acoustic response timeoutIAQAQBU>BQBU. IBU;BBU =BQBUDBUt;BU/Eyԡ  2Acoustic response timeoutE% # E% @E% +E! "E% [;*E% M;VE% [4ZE! BE% g IyiMb@Mb@Mb@ 9/$?I +?MbPY9Y=jFy\<E>Q 54.E?Q 94b)Y`Z7i@i)iIi>@ @@ @ԩIIO#>e2Acoustic response timeout %,?A2:g@2 b@2bٱ2:; :AHRS rotation from veh to nav: [[0.353680,0.935029,-0.025112],[-0.933738,0.354521,0.049478],[0.055166,0.005949,0.998459]]2H?`?.x?7U?>?@]x? a?i2:g@I2^;02Acoustic response timeoutE0 E2E*E"EJg;*E;VE(N4ZEa@a@a@a@Y^ByY II<)<AbDVDN2y=%7=ٔ$9Y=jFy!%<E%>)Q 554-E?Q 954-b))Y9y=9Q I=@-% DI-Y;i-D;-gD4yAɮEAAblazlarlajlaZZZZlѱ@i)顙iIE:@A @A@E @AIQIiOu6>1m 2Acoustic response timeoutBI BI BM Z IBM ^BBI BI BI BM t;BM /EY %,+?Afܛ@fע@f:ٱf6:  AHRS rotation from veh to nav: [[0.367232,0.929958,-0.017871],[-0.929012,0.367664,0.041947],[0.045579,0.001198,0.998960]]fHเ?6?Lw`Ї? z?"V?S?{?ifܛ@IfD^;f7C 1)1սTչi`eII i  `eA)II IM`eIQqqIq)qiy)yI}flAyy yفففiففiډډ)ډ ډIډYYjByh Ii}Mb@Mb@Mb@yyyy y9}MbL7A`?~jthY}@y}+=}D}Q@}@ }VA)}@yY}@bDVDysb=%B=ٔJ9Y=jFyE =E>Q 54SF?Q 94Zb)x`BYk=Q EfԉԹ D%,3ϗ?A2Acoustic response timeoutɰ6vU@6HP@6}gٱ6 BAHRS rotation from veh to nav: [[0.381015,0.924545,-0.006677],[-0.923869,0.380998,0.036165],[0.035980,-0.007611,0.999323]]6Hb?ޕ?`X{TCb?`+?k?`,@u?i6vU@I6_;68CY5By5 IbDEVDEyU*>%]x=ٔ]Թ2Acoustic response timeoutbE}ǙT4jE}ǼP4rE}Ϛ/E E;E+E"EO;*E ;VE [4ZEa @a@a@a@ u%,闼?A6ʜ@6rţ@6Ҽٱ6DB BAHRS rotation from veh to nav: [[0.394314,0.918976,0.000738],[-0.918615,0.394136,0.028340],[0.025752,-0.011853,0.999598]]6H@o9iYi=mjFyiu=E}>Q 54G?Q 94Da)u`BYy?Q I@) DIth;i\;X4yɮAblzlrljlZZZZ?i)iI52Acoustic response timeoutB<AB>BB IBBBBBBOt;Be/E@ @@ @IIO!>!I  2Acoustic response timeoutE ( E 8E 'E "E `;*E  ;VE '4ZE BE RI@2D@2gٱ2b' >AHRS rotation from veh to nav: [[0.408559,0.912725,0.003553],[-0.912622,0.408446,0.017084],[0.014142,-0.010223,0.999848]]2H@%? 5?m?34#?~?? ?i2>I@I2^_;28CYFByF IiMMb@Mb@Mb@IIII I9M)\(Zd;O?MbpYMGyMj<=MM~@M@ Mh@)M@IYIbDeVDek1yu|a=%uH=ٔu9yYy=}jFy=E>Q 54F?Q 94`)r`BYR=Q E;y@?Q I@, DI ;ie ;_4yɮ#AblzlrljlZR=ZR=Zu/@Z@?i)iIQq@q @q@q@qIIO=E2Acoustic response timeoutyԩ Q&,a?A2ȝ@2{ä@2ʋٱ2 :AHRS rotation from veh to nav: [[0.422745,0.906228,0.006173],[-0.906247,0.422720,0.005006],[0.001927,-0.007710,0.999968]]2H@B??Hy?@ ?`t?x_?`۔?i2ȝ@I2 _;29C@YFByJ IbDRVDR0yZ=%ZW=ٔZ=Q-Z>9\Y\=^jFy\b'=Eb>dQ 5j4fF?Q 9j4f^)fp`BYhyjB?Q Ij@f/ DIf :if:fVf4ypɮrApblzlrljl2Acoustic response timeoutZZZZB?E/ EE)E"Eaf;*Ex:VEFA4ZEa@a@a@a@i)iII ) :@ @@ @IԩIO=U 2Acoustic response timeoutB >B B IB BB B B B &t;B Q/E , &,y?7?A>>:@>5@>ɸ(<ٱ>y8` ZAHRS rotation from veh to nav: [[0.435247,0.900279,0.007563],[-0.900252,0.435299,-0.007782],[-0.010298,-0.003421,0.999941]]>H??`~??`l?i>>:@I>5^;>:CpY~By II<)=)-A AEp<bDUVDU:2y<% 7=ٔN99YQ=]jFyYm<Em>Q 54F?Q 94^])o`BYy ?Q I@3 DI`;i"\;dn4yɮmAblzlrljlZ Z Z Z 3 ?i9)999i9AIA 2Acoustic response timeoutE ETE,E"EP;*E;VEg4ZEBE1a ] 2Acoustic response timeout&,,Q?A: @:@:г<ٱ:=; BAHRS rotation from veh to nav: [[0.446099,0.894962,0.006175],[-0.894694,0.446119,-0.022386],[-0.022789,0.004462,0.999730]]:H?@?Jy?`T7? 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짿@:Y??i2@@I28_;29XYX=ZjFyX^'<E^>`Q 5f4bC?Q 9f4bW)b}`BYdyj ?Q Ij@bA DIby:ib:b4ylɮnAlblzlrljlZ!Z!Z!Z%q ?i1)111i19I92Acoustic response timeoutD=D<E$ EE+E"Eg\;*E:VE [4ZEa@a@a@a@Y@ @@ @IIO=ԁԩ5 2Acoustic response timeoutB B B IB BB B B B $t;B P/E y-&,M?A@NK@NF@NoB=ٱN< VAHRS rotation from veh to nav: [[0.464583,0.885406,0.014802],[-0.884257,0.464747,-0.045824],[-0.047452,0.008200,0.998840]]NHົ?>U?zP?K@h?`8v@K@Kˀ? ?iNK@IN^;N8CYBy IbD=VD=k1ym%u?=ٔ}S:Q->9Y=jFyQ;E>Q 54B?Q 94]V)`BYyM?Q I@D DI<<@4yɮAԹbl9zl9rl9jl9ZyZyZyZ}M?i)顑iI2Acoustic response timeoutEH E;EE"E};*E ;VEZEBEe = 2Acoustic response timeoutA a4&,9`Ҙ?AYBy II<)p;!!iMb@Mb@Mb@ 9x&9Y=jFyE>Q 544B?Q 94U)`BY$=Q E?92Acoustic response timeoutDzD@AE7 E0E)E"Em;*E;VEFA4ZEa@a@a@a@i ɍ:&,D옼?A R2@R@R=ٱR_; bAHRS rotation from veh to nav: [[0.458609,0.888564,0.011491],[-0.887782,0.458696,-0.037962],[-0.039003,0.007208,0.999213]]RHY?o?Ĉ?h@F[?o1,}??iR2@IRo^;PYr|Byv~ IbDVDNy%V=ٔ4Q->9!Y!=%jFy!%E->)Q 5=4-A?Q 9=4-T)-`BY9y=v?Q I=@-H DI-Q;i-L;- 4yAɮMAIblzlrljlZZZZnv?i1)199i99IA2Acoustic response timeoutB5<A5<B9B9B=l IB=nBB9B9B9B=t;B=F/Eq@ @@ @II O >ԑ  2Acoustic response timeoutE / E 8E ,E "E af;*E  ;VE g4ZE BE η9QYQ=UjFyQ]E]>aQ 5m4eA?Q 9m4eU)e`BYm9||Y|=jFy6ѼE> Q 54 eA?Q 94 U) `BYy#Q I@ I ;i ; 4y!ɮ%A)blAzlIrlIjlIZaZaZaZe@iq2Acoustic response timeoutbEG4jEL4rEn/E5 ErE*E"Ek;*E*;VE(N4ZEa@a@a@a@)顡iIU:@Y @Y@Y@YIiIyO=)Q- 2Acoustic response timeoutB= >B9 B= G IB= OBB9 B9 B9 B= :t;B= [/Eԁ M&,9?A2(@2#@2jH<ٱ2]: :AHRS rotation from veh to nav: [[0.433298,0.901229,0.006175],[-0.901083,0.433340,-0.016302],[-0.017368,0.001500,0.999848]]2H@(? ?Jy?ջ?@ȑ ؒX?`?i2(@I2D0^;29CYbAByb5 IbDrVDryz%zJ=ٔz~Q-z>a9|Y=jFyӼE>Q 547A?Q 9 4%U)`BY9yEQ IE@I y> = 2Acoustic response timeoutѯT&,eS?A@2ɝ@2Ĥ@2ˎ<ٱ2J,9 :AHRS rotation from veh to nav: [[0.422870,0.906183,0.003789],[-0.906143,0.422887,-0.008507],[-0.009311,0.000164,0.999957]]2HL?r?` o??5l` %? ?i2ɝ@I2P^;28CY^9Y=jFy[E>Q 540A?Q 94U)Y=Q EN2Acoustic response timeoutEd EIE(E"E:;*E ;VEc44ZEa@a@a@a@1Y Z&,m?AJjk@J9tYt=vjFytvtEv>xQ 5~4z#A?Q 94zxV)z`BYy9̿Q I@zK DIz;iz;z7¸4y ɮ 5Abl)zl)rl1jl1ZIZIZIZM@ia)aaaiaiIi1AAAAAA2Acoustic response timeoutB B B ( IB 6BB B B B !u;B /E@ @!@!@!I1IAOU=Yԑ 2Acoustic response timeoutE 2 E -E +E "E i;*E K;VE [4ZE BE (=ٔQ->9Y=jFyE>Q 54!A?Q 94W)`BY=Q E 2Acoustic response timeout g&,8?A4<ɰ4<62@6@6ٱ6' >AHRS rotation from veh to nav: [[0.392765,0.919628,-0.004533],[-0.919472,0.392783,0.017130],[0.017533,-0.002560,0.999843]]6H#?@m?r PlY#?@~?`F?d?i62@I6@V^;68CYF'ByJ IbDRVDR1yZp%Z\=ٔZKQ-Z>9\Y\=^jFy\bkEb>dQ 5j4fA?Q 9j4fX)f`BYhyj̿Q Ij@fP DIfl:if:f;и4ypɮrxApEeK Ee1Ee*Ea"Ee;*Eef;VEe(N4ZEaam@am@am@am@}2Acoustic response timeoutblzlrljlZZZZM@i)iI:@ @@ @IIO=BBB IB'BBBBB#v;BO0EBBBBBC45 2Acoustic response timeoutI n&,?A2dv@26q@2޼ٱ2Z :AHRS rotation from veh to nav: [[0.384832,0.922945,-0.008786],[-0.922585,0.384928,0.025811],[0.027204,-0.001827,0.999628]]2H@? È?X҅?@In?vۛ?3]`?i2dv@I2l@^;0@Y^By^ If=f=ddbDjVDjyrJ%rG=ٔvQ-v>9tYt=zjFyxzEz> Q 5%4 @?Q 9%4 Y) `BY)y-$ͿQ I-@ S DI ;i r; n׸4y1ɮ5A1blQzlQrljlG]9aYe@ZZZZƕ@ԩi)iIEu? EuEEu+Eq"Eut;*Eu;VEu [4ZEqBEuX = 2Acoustic response timeoutt&,ԙ?AlYr&Byr IMonly read -1 of 1 data item for water mass range. Device response is::WD, +0.00,+0.00, +0.00, aM@aM aM@aM aM@aM aM@aM bDUVDUyez(=%eB=ٔmQ-m>9iYi=mjFyquEu>yQ 54}@?Q 94}Z)}`BQ A+:YQ E;yQ I@}U DI}:i}>}\ݸ4yɮAblzlrljli)iIi@q @q@u @qIIO= 9Du?AzDqE}$ E}(E}*Ey"E}g\;*E};VE}(N4ZEya@a@a@a@2Acoustic response timeouta '{&,!?A2@2x@2c8ٱ2; :AHRS rotation from veh to nav: [[0.374123,0.927183,-0.019068],[-0.926287,0.374601,0.040832],[0.045002,0.002386,0.998984]]2H? |? $t??`w ?c?`?i2@I2uG^;25CYF#ByF IbDLVDLyVv:%VW=ٔV?Q-Z>9XYX=ZjFyX^E^>`Q 5f4b@?Q 9f4b[)b`BQ Af :YdQ Ef;yjοQ Ij@bX DIb:ibL?b4ylɮnAl9blAzlArlAjlAii)iiiiiqIqByA}<B>B CBBB =BBBv;B0E:@ @@@I2Acoustic response timeoutIO=iԙE R E CE (E "E ;*E ;VE c44ZE BE ;9AYA=MjFyI}<̻E}>Q 54@?Q 94A\)`BQ AT:YMe=Q Em2Acoustic response timeout 9&,"?A6@6@6:^ٱ6-G: BAHRS rotation from veh to nav: [[0.370240,0.928678,-0.021880],[-0.927352,0.370881,0.049655],[0.054229,0.001907,0.998527]]6H?໷?g ެ?_l?ë?=_?@?i6@I6 M^;65CYJ-ByJ IbDV VDV:2yZ<%^e=ٔ^Q-^>9`Y`=bjFy`bpTEf?dQ 5j4fc@?Q 9n4f\)f`BYlyn ԿQ In@f[ DIf;ifH;f4ytɮvGAtbl zl rl jl Z)Z)Z)Z-W @D=%=D=<EE7 EE7EE,EA"EEm;*EE ;VEEg4ZEAaM@aM@aM@aM@iQ)QQQiQe2Acoustic response timeoutaIi@ @@ @I!I1O==!QBqBqBu( IBu6BBqBqBqBuCw;Bu0E 2Acoustic response timeouty c&,B[9AYI=MjFyQeqL;Ee>qQ 5}4u8@?Q 9}4ub])u`BYyӿQ I@u\ DIu;iu;uK4yɮAblzlrljlZZZZD@Yi)iI EU) EU=EU*EQ"EU`;*EU;VEU(N4ZEQBEUԁԩ  2Acoustic response timeoutK&,;7V?A2$@2h@2Fٱ2<; :AHRS rotation from veh to nav: [[0.375296,0.926669,-0.020910],[-0.925632,0.375867,0.043918],[0.048557,0.002873,0.998816]]2H ?E? i@Ǟ6?@m|? vܨ?g?M?i2$@I2v?^;27CYFGByF< I HHiUMb@Mb@Mb@QQQQ Q9U:v?{GzYUT9Y=jFyB <E>Q 54@?Q 94])Y[D]@AzDYbE(N4jER4rEd/EeJ Ee(Ee-Ea"Ee~;*Ee;VEet4ZEaiyIy}2Acoustic response timeouta@a@a@a@ 9 v&,bp?A2mX@2?S@2ZI+ٱ2_e; :AHRS rotation from veh to nav: [[0.381263,0.924268,-0.019188],[-0.923521,0.381729,0.037307],[0.041806,0.003497,0.999120]]2H`f??{An??`g?l??i2mX@I2.^;25CYFQByFI IbDNVDNyVa=%VY=ٔZ9XYX=^jFy\^<E^>`Q 5f4b??Q 9f4b])`YhyjQ Ij@`IbW:ib:b4ylɮn(Apbl|zl|rljlZZZZT@i))111i11I9B%>B!B%A IB%JBB!B!B!B%w;B%1E2Acoustic response timeout@ @@ @IIO%=9i Em B Em 4Em +Ei "Em w;*Em ;VEm [4ZEi BEm AHRS rotation from veh to nav: [[0.388687,0.921272,-0.013400],[-0.920720,0.388918,0.031900],[0.034600,-0.000062,0.999401]]6H??`{?Uqv?)U? ?`$`?i6p@I6^^;67CYFVByJO IiMb@Mb@Mb@ 9:vMb?YԼy<;@ Q@)@Y@bDVD0y#<%8=ٔ9Y=jFy<E>Q 5 4??Q 94d])Y2Acoustic response timeoutԹ &,mȣ?A2@2[ޣ@2&ٱ2K :AHRS rotation from veh to nav: [[0.397088,0.917774,-0.003367],[-0.917373,0.397018,0.028353],[0.027359,-0.008170,0.999592]]2H`i?@h^?k[h?`??B?i2@I2b^;29CYFXByFR IIJ<)J=bDRVDR:yVvV<%Va=ٔZq9XY\=^jFy\`b<Eb>dQ 5j4f??Q 9j4f"])dYhyj ?Q In@dIf:ifY;f'4ypɮrApE%= E%(E%(E!"E%s;*E%;VE%c44ZE!a-@a-@a-@a-@E2Acoustic response timeoutblzlrljlZZZZ ?i!))))i)1I1@ @@ @IIO]>BBBS IBYBBBBBw;B1E2Acoustic response timeoutA &,ˢ?A2)@2p$@2y_ٱ2_PN :AHRS rotation from veh to nav: [[0.404995,0.914312,0.003534],[-0.914107,0.404814,0.023108],[0.019698,-0.012590,0.999727]]2Hn? B?0l?]@`z??+?`ȉ?i2)@I2h^;26CYF_ByFZ IbDRVDRk1yZ=%ZJ=ٔZN9\Y\=^jFy\b<Eb>dQ 5j4f??Q 9j4f\)f`BYhyj;?Q Ij@f_ DIfu:if:f44ypɮrApblzlrljlZ!Z!Z!Z%;?i1)199i9AIA:@ @@ @I9IyO=E5% E5.E5*E1"E5O];*E5;VE5(N4ZE1BE59Y=jFy\<E>Q 54@?Q 94@\)`BY [=Q ExԡE=O E=0E=+E9"E=;*E=;VE= [4ZE9aE@aE@aE@aM@]2Acoustic response timeout $Ļ&,Y?A2Ν@2Ȥ@2+ ٱ2  :AHRS rotation from veh to nav: [[0.423345,0.905934,0.007883],[-0.905966,0.423308,0.006008],[0.002106,-0.009686,0.999951]]2H?i?`9%?`y?x??a? փ?i2Ν@I2Y^^;26CYFgByFd IJ=J=bDRVDR:yV>%Z]=ٔZ9\Y\=^jFy\b<Eb>dQ 5f4fy@?Q 9j4f[)f`BYhyjѫ?Q Ij@fb DIf):if:fS(4ypɮr|ApblazlarlajlaZZZZѫ?iB>B CBf IBiBB =BBBB1EB CB CBB =B =C4)iI2Acoustic response timeout@ @@@IIO> ErGY%9Y#@9EM 9 EM EM ,EI "EM so;*EM :VEM g4ZEI BEM 9Y=jFy<E>Q 5 4GA?Q 9 4[)Y&y=Q EZa2Acoustic response timeoutԉԹ &,%?A@:D_@:Z@:Z<ٱ:V9 BAHRS rotation from veh to nav: [[0.439279,0.898325,0.006794],[-0.898210,0.439332,-0.014357],[-0.015882,0.000204,0.999874]]:H`&?? 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IBU;BBU =BQBUDBUmw;BU0E2Acoustic response timeout (,ZK?A ɰ"49hYh=jkFyhlrEr>tQ 5v4v[M?Q 9z4v~`)v|`BYxyzfQ Iz@v DIv:iv;v4yɮAbl!zl!rl!jl!ZAZAZAZERv@iQ)QQiII)hAE51 E57E5(E1"E52h;*E5 ;VE5c44ZE1BE5_9YYY=ekFyaefEe>iQ 5u4m!K?Q 9u4m`)iYu&=Q E}OEQ EU:EU*EQ"EQ*EU$ ;VEU(N4ZEQa]@a]@a]@a]@iyIy2Acoustic response timeoutԙBM >BM CBM A IBM JBBI BI BI BM w;BM 1E ^(,m?A2@2@2Vٱ2:< :AHRS rotation from veh to nav: [[0.212385,0.976933,-0.022246],[-0.975779,0.213245,0.048804],[0.052422,0.011342,0.998561]]2Hk/?C?@ǖ9@K?`?`ת?`:?@5?i2@I2^;0YBQByFJ IbDNVDNfync=%nR=ٔrfQ-r>9pYp=vkFytvgEv>xQ 5~4zI?Q 9~4z`)xYy[=Q I@z DIz ;iz;z4y ɮ &Abl)zl)rl1jl1ZIZIZIZMqT@iY)aaaiaiIiԡ2Acoustic response timeout@ @@ @I!I1OE=EU ) EU #EU (EQ "EU `;*EU ;VEU c44ZEQ BEU 9Y=kFyШE>Q 5 4 F?Q 9 4Q`){`BY=Q Ei>@ @@ @IIO >2Acoustic response timeoutAi ;1,(,d#?A"2Acoustic response timeoutbEjEI4rEp/E63 E69E6*E4"E6j;*E6 ;VE6(N4ZE4a:@a:@a:@a:@B(@B#@BIYٱB; JAHRS rotation from veh to nav: [[0.196644,0.980335,-0.016578],[-0.979036,0.197243,0.050826],[0.053096,0.006236,0.998570]]BH+?@^?@CT`????c/? 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t ũu ?iBAΘ@IBC^;B0CYЂBy II 4=) 49IYI=MkFyIU<EU>aQ 5m4e;.?Q 9m4eQ)aYmy=Q Em7%2Acoustic response timeoutD9zD=AAbE(N4jE(N4rE.EEJ EE3EE*EA"EE~;*EEt ;VEE(N4ZEAaU@aU@aU@aU@B5 >B1 B5 IB5 ĂBB5 =B1 B1 B5 #x;B5 T1EA ǀ(,F?A2H#@2@2_q=ٱ2jY :AHRS rotation from veh to nav: [[0.286685,0.957716,0.024319],[-0.956213,0.287611,-0.054192],[-0.058895,-0.007718,0.998234]]2H@ Y?@??K9h?{' @?i2H#@I29^;2/CYfÂByf IbDrVDry-%-^=ٔ-=f91Y1=5kFy1=.<E=>AQ 5M4E.?Q 9M4ENQ)E]`BYIyU?Q IU@E DIEl:iEB:E4yYɮ]nAY2Acoustic response timeoutblzlrljlZZZZ@?i)项iIu:@q @q@u @qIIO=Iq- 2Acoustic response timeoutEU c EU .EU )EQ "EU Ɗ;*EU ;VEU FA4ZEQ BEU 9qYq=}kFyy}/<E}>2Acoustic response timeoutQ 540?Q 94&Q)YI=Q EQ I@ԡ DI/;it.;4yBɮAmEblzlrljlZI=ZI=Z&i)i I I):@ @@ @II1O=r> = 2Acoustic response timeoutn(,6?A6*@6@6&'j=ٱ6 O9 >AHRS rotation from veh to nav: [[0.302421,0.952965,0.020002],[-0.951461,0.303068,-0.053594],[-0.057135,-0.002823,0.998362]]6H`Z?~?Y{?]r`ye?p @/ g?i6*@I6ɢ^;60C FC)FjlAF9FOFDJCJblAiJ9IJTFHIJ̎CiNt@ LL)LL N^lAR9R;FPRُCRflAIRף)V eFiT)VsCIVVlAVVMF XZCXXiZjFXYXYbByb I ddj=j=bDnVDnܲyvD%v=ٔv:Q-z?9xYx=zkFyx~<E~?Q 5 41?Q 9 4Q)Y y |>Q I@ DI:i:$4yɮAbl9zl9rl9jl9ZYZYZYZ]|>i)iIB>BB IBBBBBB@x;Bb1E:@ @@ @IIO>2Acoustic response timeout1Y (,P?A6 ԙ@6Π@6J=ٱ6 BAHRS rotation from veh to nav: [[0.307406,0.951437,0.016406],[-0.950292,0.307841,-0.046685],[-0.049469,-0.001239,0.998775]]6H`?,r?`̐? hળ?$秿`SNT?i6 ԙ@I6^;6.CYBy IbD-VD-y=%EE=ٔEQ-E>9IYI=MkFyIMI<EM>QQ 5]4U3?Q 9e4UP)QYaye>Q Ie@U DIUf;iUr;U+4yiɮm9AqblzlrljlZZZZm>i)iI12Acoustic response timeoutEf E4E*E"E";*E ;VE(N4ZEBE<2E<JEf<:Ef< :@  @ @  @I!I1O= >aԑ 2Acoustic response timeoutԹ /(,j?AJ@J@JW =ٱJ|: jAHRS rotation from veh to nav: [[0.311013,0.950343,0.010933],[-0.949596,0.311203,-0.037683],[-0.039214,0.001338,0.999230]]JH?4i? d?c?'K`@U? ?iJ@IJM^;J0CYurByuq IiMb@Mb@Mb@ 9Mb? ףp= ?Y=yQ8=h@@ Z@)lAY=@bD- VD-2ԑy(%6=ٔtQ->9Y=kFyH<E>Q 54D6?Q 94Q)[`BYo=Q E;yNQ I@ DI:i8:34yɮ$AblzlrljlZo=Zo=ZE>Z8@i)i!I!5>i5>@ @@ @IIO>Թ2Acoustic response timeoutE}A E}8E}+Ey"E}v;*E} ;VE} [4ZEya@a@a@a@AABBBs IBsBBBBB0x;B\1EBBBBB =Cȍ/5 C- G= jAQ 69 jAY n@y P> \@ (,~?A2@2@2C<ٱ2Z: :AHRS rotation from veh to nav: [[0.312868,0.949770,0.007153],[-0.949403,0.312946,-0.026444],[-0.027354,0.001482,0.999625]]2H?`d?L}?a P?$` IX??i2@I2^;2/CYRRByRJ IIV<)VTVAbDZVDZ:yv(8%vk=ٔv Q-v?9xYx=zkFyxz;E~?e2Acoustic response timeoutyQ 54}{8?Q 94}R)}Z`BYyKNQ I@} DI}:i}y:}0:4yɮ%AblzlrljlZZZZeF@i)iI:@ @@ @IIO= 2Acoustic response timeoutI E B E 6E 'E "E w;*E  ;VE '4ZE BE y+=~@$@ @)@Y3@bD VD2y+%.=ٔ'̼Q->91Y1=5kFy1=Rn:E=>AQ 5E4E;?Q 9M4ERT)EX`BQYMR->Q EU;yU!Q IU@E DIEE5;iE94;E@B4yYɮ]AablyzlrljlZR->ZR->ZJH>ZG@i)顱iIm2Acoustic response timeoutA@A @A@M @IIYIiO9>yԩ  2Acoustic response timeouti(,9C?Aɰ;E"2 E"?E"/E "E"i;*E";VE"J4ZE a*@a*@a*@a*@@Fl@F>@Fx;ٱF NAHRS rotation from veh to nav: [[0.313395,0.949621,0.001614],[-0.949615,0.313399,-0.003463],[-0.003794,-0.000448,0.999993]]FH?Lc?qZ??c ?]l o`T=?iFl@IF^;F0CYf Byf IbD~VD~k2y '% n=ٔ Q-?9Y=kFy E?!Q 5-4%>?Q 9-4%U)%W`BY1y5$Q I5@% DI%9:i%:%H4yYɮ]AYblzlrljlZZZZF@i)iI!B}>B} CB}. IB};BByByByB} x;B}G1E@ @@ @ԱIIO>}2Acoustic response timeout Q(, Ң?A2@2v@2ٱ2 :AHRS rotation from veh to nav: [[0.312367,0.949961,0.001296],[-0.949921,0.312341,0.009610],[0.008724,-0.004233,0.999953]]2H`?f?@=U?e`f?s?ށ?Wq?i2@I2^;2/CYFByFI HHJ=J=bDRVDR0yV%ZP=ٔZQ-Z>9\Y\=^kFy\|-E>!Q 5-4%@?Q 9-4%0W)!Y1y5IQ I5@% DI%B:i%[:%*O4y9ɮ=-AAblYzlarlajlaZyZyZyZ}=@i)顑iI2Acoustic response timeoutQ@Q @Q@U @QIaIqO=E E"E*E"EW;*E;VE(N4ZEBEDy<v@@ @)`@Y@bDVDJy%:=ٔQ->9Y=kFy(YE>Q 54C?Q 946Y)X`BYYH>Q E;yQ I@ DI@:i:V4yɮAblzlrljlZ5YH>Z5YH>Z5T=Z5@iA)AAIiIIIQ@ @@ @IIO >ԁ2Acoustic response timeoutDyzD}@AE! 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E%E,E"EY;*E;VEg4ZEBE֬9AYA=EkFyAMm=EM>YQ 5m4]#D?Q 9m4]_)]`BYu>Q Eu;yu?Q I}@] DI];i] ;]y4yɮAԱblzlrljlZ>Z>Z`F@Z?i)!i!!I1@ @@ @II9OM1>2Acoustic response timeout 9 b),]?A6@6ǀ@6<ٱ68 >AHRS rotation from veh to nav: [[0.357654,0.933803,0.009789],[-0.933640,0.357776,-0.017679],[-0.020011,-0.002816,0.999796]]6H@??1 ?``? o}KgS?i6@I6}^;4YJByJ IIN=)N;bDRVDRβyz;%za=ٔ~`=Q-~>9|Y|=kFy <E> Q 54 B?Q 94 ^) Yy?Q I@  DI ;i ; ͌4y!ɮ%A!blAzlArlAjlAZaZaZaZeg?iq)yyyiyyI2Acoustic response timeout :@  @ @  @ IE- E-&E)E)"E-P;*E-;VE)ZE)a=@a=@a=@a=@IAOU=Qq 2Acoustic response timeoutԡ C;),5w?A2כ@2Ѣ@2 =ٱ2; :AHRS rotation from veh to nav: [[0.366750,0.930285,0.008021],[-0.929713,0.366809,-0.032951],[-0.033596,0.004628,0.999425]]2H@x??Xm?4y?ޠ@3Ur?I?i2כ@I22^;0@Y^By^ Ii}Mb@Mb@Mb@yyyy y9}MbX9Ŀy&1?~jth?Y}!y}`e<}D;}~@y }@)}Q@yYybD VD2y*=%@=ٔ=Q->9Y=kFy<E>Q 54#A?Q 94\)`BYt">Q E;y?Q I@ DI:i:<4yɮAblzlrljlZt">Zt">ZgC@Zn?i!)!))i))I1:@ @@ @IԩIO=2Acoustic response timeout QQAABBB IBBB =BBBv;B0EBm CBm CBiBm =Bm =Cmsx5liA1D9zD=AAEE: EEEE)EA"EE\p;*EEx:VEEFA4ZEABEEm9xYx=~kFy|~<E~>Q 5 4??Q 9 4b[)`BYy?Q I@ DI:i:㚼4yɮJA!bl9zl9rlAjlAZYZYZYZ]?ii)qqqiqI:@ @@@IIO= 12Acoustic response timeoutEU % EU EQ EQ "EU O];*EU :VEQ ZEQ a] @a] @a] @a] @a M),4?A2-R@2L@2T=ٱ2; >AHRS rotation from veh to nav: [[0.380377,0.924658,0.017917],[-0.923372,0.380794,-0.048780],[-0.051928,0.002011,0.998649]]2HX? ̖?@X?`D^?` @y`?`?i2-R@I2^;2+CYJByJ I PPbDZVDZ:2y %H=ٔ%9)Y)=-kFy)5Zz<E5>9AQ 5M4E>?Q 9U4EY)E`BYQyU?Q Ie@E DIE ;iE$;E4yyɮmAblzlrljlZZZZӾ?i1)119i99IAm2Acoustic response timeout:@ @!@!@1iIIO >ԑ  2Acoustic response timeoutB B B B B =B B B v;B 0E}4), ŧ?ADDE- EDE(E"Ed;*Eh;VEc44ZEBE=9Y=kFy#<E> Q 54 Q E%;y%8?Q I%@  DI wo;i n; 4y1ɮ=A9blizlirlijliZD>ZD>Z_B@Z8?i1)119i99IA@ @@ @II O*>e2Acoustic response timeout! 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Ӌ~?`0|`Ǿ 3?iB|b@IBz^;B)CYZ]By^X IbDjVDj02yv㔽%vM=ٔv̞Q-z>9xYx=zkFyx~dE~>Q 5 4:?Q 9 4T)`BY y?Q I@ DI :i:?ż4yYɮ]AYblyzlyrlyjlyZZZZ?i)iI=2Acoustic response timeout:@ @@@IIO >9a  2Acoustic response timeoutBQ BQ BU S IBU YBBU =BQ BQ BU v;BU 0EE] / E] E] *EY "E] af;*E] :VE] (N4ZEY BE] η@R,S<ٱR7 ^AHRS rotation from veh to nav: [[0.379095,0.925280,0.011993],[-0.924991,0.379278,-0.023224],[-0.026038,-0.002289,0.999658]]RH@C??я?@F?@ȗb3?iRiC@IRm^;R*CYjKByjA I lliMb@Mb@Mb@ 9I +?Mb?MbpY99!Y!=%kFy!-m E->1Q 5=45;?Q 9=45T)5`BY=Zq@i)顙iIQI@I @I@U @QIaIqO}>%2Acoustic response timeoutԁԩ )*,{2`?A6:@6 @6<ٱ6{x >AHRS rotation from veh to nav: [[0.374624,0.927122,0.010054],[-0.927013,0.374739,-0.014757],[-0.017449,-0.003792,0.999841]]6H???@? 8ޑo?i6:@I6^;6,CYJ0ByJ! IPbDVVDV:y^%^f=ٔbżQ-b>9`Y`=bkFy`faEf>hQ 5n4j;?Q 9n4jU)j`BYlyrfVQ Ir@j DIj;ij ;j?Ӽ4ytɮv.Atbl zl rl jl Z)Z)Z)Z-B@i9)99AiAAII2Acoustic response timeout@ @@ @IbE™T4jE¼P4rEϚ/E1 E&E)E"E2h;*E;VEFA4ZEa%@a%@a%@a%@I9OE=M 2Acoustic response timeout! *,,z?A2S@2%@2bQ<ٱ2J :AHRS rotation from veh to nav: [[0.369919,0.929044,0.006086],[-0.929023,0.369956,-0.006926],[-0.008686,-0.003091,0.999958]]2H ¬?`?:x?]?@^|ʁRSi?i2S@I2^;2)CYf*Byf I|i]Mb@Mb@Mb@YYYY Y9]RQ?Mbp?Mb`Y]=y];]YY ]@)]v@YY]@ m=ٔ'Q->9Y=kFy$CE>Q 54)2Acoustic response timeoutAAB>BB( IB6BBBBBv;B0EDzD?AE%7 E%7E%+E!"E%m;*E% ;VE% [4ZE!BE%9yYy=}kFyy]yE>Q 54c>?Q 94W)`BYyQ I@ DI;if;}4yɮAblzlrljlZZZZ @i)))))i)1I1y:@ @@ @IIO (>2Acoustic response timeoutԱE- ? 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W?\?@2l?@=?i2)@I2P^;0Y~ By~I bDVDyE%M\=ٔMsQ-M>9IYQ=UkFyQU^EU>YQ 5e4]/B?Q 9m4]QZ)]`BYiym螿Q Im@] DI]y:i]N:]4yq}2Acoustic response timeoutɮRAblzlrljlZZZZU@i)iIԑE' E3E)E"E _;*Et ;VEFA4ZEa@a @a @a @u:@y @y@} @yIIO=- 2Acoustic response timeout K)>*,e?AF @F@F:ٱFƞ< RAHRS rotation from veh to nav: [[0.343085,0.939010,-0.023504],[-0.938195,0.343789,0.039994],[0.045635,0.008330,0.998923]]FH`?^ ?l ?!z?]?=?`.?iF @IF^;F)CYZBy^Ii}Mb@Mb@Mb@yyyy y9}Pn?Mb`?Y}>y}};}`@}@ }@)}@yYybDVD:y+=%D=ٔQ->9Y=kFyE>Q 54C?Q 94[)`BY>Q E;y4Q I@ DI@:i:#4yɮAblzlrljlZ>Z>Z/3Z@i!)!!!i!)I)@ @@ @II O>2Acoustic response timeoutB>B CBIBBB =BBDBv;B0ED?AzDE2 EAE*E"Ei;*E;VE(N4ZEBE(AHRS rotation from veh to nav: [[0.340497,0.939675,-0.032759],[-0.938618,0.341751,0.046933],[0.055298,0.014768,0.998361]]6H??@Š( >??@O?@>?@?i6@I6]^;6(CY^By^ I f;fp<bDjVDjβyr<%rX=ٔr:ѼQ-v>9tYt=vkFytzG߻Ez>|Q 54~#E?Q 94~\)~`BYyQ I @~ DI~;i~[:~4yɮAbl1zl1rl1jl1ZIZIZIZM@ia)aaaiaiIi@ @@ @ԙIIO=Թ2Acoustic response timeoutE 8 E BE E "E n;*E Z;VE ZE a- @a- @a- @a- @ m7K*, /?A6&@6ݡ@6+ٱ6h*O< BAHRS rotation from veh to nav: [[0.338423,0.940406,-0.033267],[-0.938881,0.339820,0.055003],[0.063030,0.012619,0.997932]]6H?@?PO ?i)?@"?`׉??i6&@I6)^;6)C\Yb#Byb IId)f<bDnVDnyv?V=%vJ=ٔvǜQ-v>9xYx=zkFyxz}E~>Q 5 4F?Q 9 4"^)`BY y ͜Q I @ DI-:i$: 4yɮAbl9zl9rl9jl9ZQZQZQZU\ܡ@ii)iiiiiqIq:@ @@ @IIO%=-2Acoustic response timeoutI B B B  IB !BB B B B v;B x0E 2Acoustic response timeoutD =D < R*,5H?AJך@Jҡ@J8{ٱJ*}K< fAHRS rotation from veh to nav: [[0.337068,0.940866,-0.034018],[-0.939157,0.338554,0.058019],[0.066105,0.012392,0.997736]]JH?? j` ܪ??=?@9Y=kFyQE>Q 54G?Q 94^)`BYO=Q E'=2Acoustic response timeoutqԙ HX*,b?Aɰ6ښ@6ԡ@6mٱ6S< >AHRS rotation from veh to nav: [[0.337357,0.940769,-0.033836],[-0.939190,0.338804,0.055982],[0.064130,0.012893,0.997858]]6H???@S@ ?@?j?g?t?i6ښ@I6U^;6'CYFCByF7 IbDRVDR0yZ=%Z\=ٔZC;Q-Z>9\Y\=^kFy\b7:Eb>dQ 5j4fH?Q 9j4f_)f`BYhyjəQ Ij@f DIfl:if:f4ypɮrApyblzlrljl2Acoustic response timeoutZZZZ@i)iI@ @@ @IIO=E6 EGE,E"El;*E;VEg4ZEa@a@a@a@ԩU 2Acoustic response timeout 3x^*,|?Ab@b@bYnٱbD< nAHRS rotation from veh to nav: [[0.339075,0.940247,-0.031032],[-0.938964,0.340281,0.050552],[0.058091,0.011996,0.998239]]bHi?`? 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IB1BBBBB"u;B/EIO=iԙ2Acoustic response timeoutE \ E -E 'E "E ;*E K;VE '4ZE BE (@>"@><ٱ>); FAHRS rotation from veh to nav: [[0.488501,0.872402,-0.016788],[-0.872056,0.488783,0.024672],[0.029729,0.002588,0.999555]]>HC??08H?C?aq?@3e?Z?i>(@I>F^;> CLYnJByn@ IiMb@Mb@Mb@ 9T㥛 9Y=lFy]<E>iQ 5u4m1F?Q 9u4m])mHaBYuU>Q E};y}@?Q I} @mDIm:im:m4yɮdAblzlrljlZU>ZU>Z?@Z-@?i)iI-2Acoustic response timeout:@ @@ @IIO >  2Acoustic response timeoutJ,,K?AE&8 E&!E&%E$"E&n;*E&:VE& 4ZE$a*@a*@a*@a.@Bg@Bb@BȼٱB : JAHRS rotation from veh to nav: [[0.495337,0.868598,-0.013394],[-0.868355,0.495516,0.020600],[0.024530,0.001427,0.999698]]BH??(n ?%?Y?_W??iBg@IBC9_;B!CYRSByRL I|bD^VD^kyMnE=%MT=ٔU]9QYY=]lFyY]<Ee>aQ 5m4eD?Q 9m4e[\)eGaBYqyu??Q Iu @e DIe$:ien;e|4yyɮAblzlrljlZZZZ??i)iI }g>}֐C@ @@ @%G)MjAY9jAY@IIO>=2Acoustic response timeoutQBAB>BB: IBEBBBBBu;B/EBBBB =B =C4ԁ -,?A2@2r@2{ٱ2b; :AHRS rotation from veh to nav: [[0.501303,0.865195,-0.011533],[-0.865052,0.501432,0.015843],[0.019490,0.002035,0.999808]]2H ?@?Ǟ @ ?`9?9\Y\=^lFy\b<Eb>dQ 5f4f2C?Q 9j4f*[)fFaBYhyj?Q Ij @f#DIfK:ifd:f04ypɮrApblzlrljlYZZZZ?i)顱iIiߙIߙ2Acoustic response timeoutEUQ EUBEU)EQ"EU;*EUZ;VEUFA4ZEQBEUrԹ9Y=lFy=<E>Q 5 4 A?Q 9 4Y)CaBY>Q E;y?Q I @'DI ;i ; 4yɮ)A!bl9zl9rlAjlAZ]>Z]>Z]@@Z](?ii)qqqiqyIy)@) @)@- @)I9IIO]>2Acoustic response timeoutEu& EuDEu-Eq"Eu8^;*Euh;VEut4ZEqa}@a}@a}@a}@9 -,GvK?Aɰ;:v@:Hߧ@:q,ٱ:M%; FAHRS rotation from veh to nav: [[0.508623,0.860957,-0.007531],[-0.860925,0.508672,0.007789],[0.010537,0.002522,0.999941]]:HF??L~ಌ G???@nd??i:v@I:^;: CYN{ByN| IbDZVDZkybbG=%bV=ٔbv29dYd=flFydf<Ej>hQ 5n4ji??Q 9r4jgX)jAaBYpyr?Q Ir @j*DIj;ij;jV4ytɮzAx2Acoustic response timeoutblzlrljlZ1Z1Z1Z5?iI)IIIiIQIQB>B CBZ IB^BB =BBBu;B/E@ @@ @I!I1O==Ai2Acoustic response timeoutEu < Eu Eu .Eq "Eu ,r;*Eu :VEu ـ4ZEq BEu 9Y=lFyH;E>Q 54=?Q 94W)>aBY>Q E;y?Q I @.DI:ir;4yɮAblzlrljliZ>Z>Z?@Z?i)i!)I) 2Acoustic response timeout:@ @@ @IIO%>ԙ 2Acoustic response timeout -,,?AE ELEE"E;*E;VEZEa@a@a@a@>D@>@>'8ٱ>Rj: AHRS rotation from veh to nav: [[0.509889,0.860237,-0.002202],[-0.860236,0.509893,0.001961],[0.002810,0.000894,0.999996]]>HQ??@Y b Q?`?@g?`NJM??i>D@I>^;>CYBy I p<<bDVDk2y=%H=ٔ9Y=lFy y9E>Q 542Acoustic response timeoutAqAuAAB}>B} CB}s IB}sBB} =ByByB}(u;B}/E) %-, ?A6@6ާ@6:ٱ6Ϲ >AHRS rotation from veh to nav: [[0.508587,0.861010,0.000860],[-0.861010,0.508587,-0.000680],[-0.001023,-0.000395,0.999999]]6HWF?`e?-1L?d YF?FF _P`9?i6@I6ȭ^;6CYFByF IbDRVDR:yZ<%Z`=ٔZE,9\Y\=^lFy\b*Eb>dQ 5j4f:?Q 9j4fT)f8aBYhyj?Q Ij @f4DIf:if:f~)4ypɮrApblzlrljlZ!Z!Z!Z%S?i1)111i19I9}2Acoustic response timeout:@ @@ @II!E5: E5(E5)E1"E5\p;*E5;VE5FA4ZE1BE5m9QYQ=UlFyY]NE]>aQ 5m4eQ9?Q 9m4eS)e3aBYu=Q Eu 2Acoustic response timeoutEE9 EE7EE*EA"EEso;*EE ;VEE(N4ZEAaM@aM@aM@aM@ 3-,̴?A2X@2*@2{d<ٱ2]Q :AHRS rotation from veh to nav: [[0.501769,0.864963,0.008107],[-0.864951,0.501819,-0.006050],[-0.009301,-0.003977,0.999949]]2H~?ǭ???x`} Ip?i2X@I2^;0YfByf InAAlpr2Acoustic response timeoutbDtVDty~=%~O=ٔw09Y = lFy  HE >Q 54/8?Q 94R)/aBY!y%?Q I% @9DI;i;74y)ɮ-A1blIzlIrlQjlQZiZiZiZm?i)顁iIB%>B!B% IB%BB!B!B!B%Ju;B%/E:@ @@ @I!I1OE= 12Acoustic response timeoutEU E EU ,EQ EQ "EU Vz;*EU ;VEQ ZEQ BEU 9Y=lFy+|E>Q 5417?Q 94R).aBY#=Q E)@Zei?iy)yyyiyI2Acoustic response timeouta:@ @@ @IIO!>ԉԹ  2Acoustic response timeout;@-,6r?AbEG4jErE0EZ E*E)E"E;*E;VEFA4ZEa@a@a@a@>&@> @>Z<ٱ>w FAHRS rotation from veh to nav: [[0.488418,0.872520,0.012552],[-0.872414,0.488562,-0.014146],[-0.018475,-0.004042,0.999821]]>H&@I>o^;> CYRByR IbDZVDZ:yb %ba=ٔfQ9dYh=jlFyhj Ej>lQ 5r4nc6?Q 9r4nNQ)n-aBYtyv?Q Iv @n=DIny:inN:nE4yxɮzAxblzlrljlZ1Z1Z1Z5(?iA)IIIiIIIQԙQ@Q @Q@U @QIaIqO=2Acoustic response timeoutBA=BBB IBBB =BBBeu;B/E! eFF-,Q?A6П@6˦@6= <ٱ66K BAHRS rotation from veh to nav: [[0.479272,0.877558,0.013783],[-0.877363,0.479460,-0.018764],[-0.023075,-0.003100,0.999729]]6H`b??S:?@\`w? 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6? 5/?@ڡ ꢿ@n?Y?iJ5@IJ_;HYBy IbDVD0y?%<=ٔ>;Q->9Y=lFy% E%>)Q 554-5?Q 954-P)-0aBY1y=Q I= @-ADI-;i-;-bj4yAɮEjAAblazlarlajlaZZZZK@ԉi)   i I@ @@ @IIOB>2Acoustic response timeoutAA@AB>BB IBBBBBBpu;B/E f-,ٖ?A2Rɝ@2$Ĥ@2&=ٱ2yf; :AHRS rotation from veh to nav: [[0.422544,0.906262,0.012055],[-0.905625,0.422702,-0.034155],[-0.036049,0.003514,0.999344]]2H ?`?W? ?|t@ml??i2Rɝ@I2^;0 @)@B9BOF@DFblAiFIDDIDiJr@ HH)HH JZlAN9LLLPIP)PiP)PIPRT TTV vATiTXYX|YMlByUj I YYbDeVDeβyu&%ui=ٔuI(Q-}>9yYy=lFyYE>Q 546?Q 94P)2aBYy[Q I @BDI;i;p4yɮTAblzlrljlZZZZx@i)iIi9I9=2Acoustic response timeoutEuo Eu[Eu)Eq"Eu7;*Eu;VEuFA4ZEqBEu! 2Acoustic response timeoutQ l-,q?AV`@V[@Vi=ٱVY:; bAHRS rotation from veh to nav: [[0.411019,0.911565,0.010647],[-0.911059,0.411147,-0.030501],[-0.032181,0.002837,0.999478]]VH"N?+?ͅ?`d';P?@;zs=g?@?iV`@IVk^;VCIY]kByYiMb@Mb@Mb@ 9x&?{Gzy&1|?Y7=y#`;I@@ @)AY@ <bDVDky % A=ٔQ->9Y=lFyE>!Q 5-4%6?Q 9-4%Q)%4aBY5y=Q E5BM2Acoustic response timeoutER E:E(E"E;*E$ ;VEc44ZEa@a@a@a@ԑ s-,UMϵ?A2@2l@2Ҫ<ٱ2: :AHRS rotation from veh to nav: [[0.400020,0.916463,0.008894],[-0.916139,0.400116,-0.024440],[-0.025957,0.001629,0.999662]]2H?S? 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[k?/$`K|?i>Pq@I>^;>CYvByv I xx|i}Mb@Mb@Mb@yyyy y9}MbX9Ŀkt?~jtxY}!y} 0=}Ļ}v@}@ }3@)}3@yYybD VD2y=%L=ٔ09Y=lFy 8=E>Q 547?Q 94wY)6aBY'>Q E;y?Q I @DI:i: 4yɮAblzlrljlZ'>Z'>Z[8@Z1?i!))))i))I1):@ @@ @IIO>B<AB>B CB` IBdBB =BBDBiu;B/E2Acoustic response timeoutQԁ .,L!?A2@2@2Ա<ٱ26( :AHRS rotation from veh to nav: [[0.509732,0.860287,0.008978],[-0.860294,0.509781,-0.004307],[-0.008282,-0.005528,0.999950]]2HO?x?c?P?:q-`̤v ?i2@I2^;2CYFByF I N9XYX=^lFy\^v(=E^>`Q 5f4be6?Q 9f4bW)b4aBYhyj?Q Ij @bDIbW:ib :b 4ylɮrlApYblizlirlijliZZZZ1?2Acoustic response timeouti)!i!)I1E=) E="E=*E9"E=`;*E=;VE=(N4ZE9BE=ԉԹ 2Acoustic response timeout D.,b;?A2^@2vY@2N<ٱ2/m :AHRS rotation from veh to nav: [[0.521365,0.853255,0.011594],[-0.853178,0.521482,-0.012017],[-0.016300,-0.003627,0.999861]]2H?M?ؾ?;M?@޵m?i2^@I2^;2CY^Byb IiEMb@Mb@Mb@AAAA A9Eoʡſ?MbPYE-yEL=EE@E@ E@)EI@AYE3@ԹbDVD0y<%8=ٔ49Y=lFy<E>Q 544?Q 94U)5aBYy4>Q E;yt?Q I @DIU:is:N(4yɮ9Abl1zl1rl1jl1ZUy4>ZUy4>ZU6@ZUt?ia)aaaiaiIi@ @@ @IIO% > 2Acoustic response timeoutEE2 EEEE+EA"EEi;*EE]:VEE [4ZEAaM@aM@aM@aM@9 B >B CB y IB xBB =B B DB tu;B /E,.,-U?A22Acoustic response timeoutF@F粨@Fx<ٱF! ^AHRS rotation from veh to nav: [[0.530569,0.847513,0.014756],[-0.847306,0.530768,-0.018910],[-0.023859,-0.002470,0.999712]]FH@k??w8?! ?/]jn@;d?iF@IF^;FCYjByj IIn<)n4<bDr VDr2yz=%z[=ٔ~9Y=lFy<E> Q 54 53?Q 94 CT) 6aBYy?Q I @ DI ;i ; .4y!ɮ-A)blAzlIrlIjlIZaZaZaZer?iq)yyyiyI@ @@@IIO%=A2Acoustic response timeoutqEU S EU EU *EQ "EU ;*EU :VEU (N4ZEQ BEU 9Y=lFy<E>Q 54u1?Q 94]R)7aBYy?Q I @DI;i|;L64yɮA!ybl zlrljlZIZIZIZM?iY)aaaiaau2Acoustic response timeoutIi%:@! @!@% @!I1IIOU2>ԡ% 2Acoustic response timeout E] _ E] <E] )EY "E] ;*E] 1;VE] FA4ZEY ae @ae @am @am @QI".,?A;ɰ2w@2I@2П=ٱ2њ; :AHRS rotation from veh to nav: [[0.540690,0.841066,0.016183],[-0.840397,0.540911,-0.033885],[-0.037253,0.004721,0.999295]]2HTM? ?8?`%O?fYVs?8?i2w@I2^;2CYFByF IimMb@Mb@Mb@iiii i9m!rhA`"?MbpYmlymY=mmv@i m@)m@iYm@bDVDkyƑ%F=ٔR9Y=lFy9<E>Q 540?Q 94 Q)8aBY=Q E;y?Q I @DI:i ;^=4yɮAblzlrljlZ =Z =Z o,@Z ?i)i!I!Թ@ @@ @I I1O= >AiAiBu>Bu CBu IBuBBu =BqBuDBuu;Bu0Em2Acoustic response timeout 7h(., C?A2&@2 @2/=ٱ2! < >AHRS rotation from veh to nav: [[0.541555,0.840531,0.015026],[-0.839569,0.541675,-0.041375],[-0.042916,0.009792,0.999031]]2HkT?? 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G(w? yD`?iZ@IZc^;ZCYzMByzE IiMb@Mb@Mb@ 9I +Mb`Mb`?Y9y;@ @)I@Y@bDVDy =%==ٔ9Y=lFy<E>Q 5]40?Q 9]4Y)NaBY]Completed lineCaptureHoming:Lap1R ZAggregate::uninitialize lineCaptureHoming:LapZ<Z<Z:N@Z@36Completed lineCaptureHoming'>lineCaptureHoming is completed.'PUninitializing Mission lineCaptureHoming3RAggregate::uninitialize lineCaptureHoming1 4bAggregate::uninitialize lineCaptureHoming:Scienceq1 8|Aggregate::uninitialize lineCaptureHoming:Science:OceanCurrentq/_vAggregate::uninitialize lineCaptureHoming:StandardEnvelopes10 `NUninitialize AltitudeEnvelopeComponent.q0`Uninitialize.0 aNUninitialize OffshoreEnvelopeComponent.G HUninitializing TrackAcousticContact.ZT)=T1=T-=!T#E!T#E!T#E!T#E2Acoustic response timeoutD# D# D# D# D# D}# Dy# Du# D D $Powering downDzDDD>>=bgot command load ./Missions/Engineering/OnDock.tla>a>y!>!7q#!7m#!7i#!7e#a6a#a6]#a6Y#a6U#a6Q#a6M#a6I#a6E#a6A#a6=#a69#a65#a61#a6-#a6)#a6%#a6!#a6#a6#a6#a6#a6 #a6 #a6#a6#a6"a6"a6"a6"a6"a6"a6"!5"5!5"=1"M1"M1"U1"U1"U1"U1"U1"U0]/"m/"m/"m/"ma"e a"m a"m a"m a"m a"m !" !" !" !" !" !}" !y" !u" !q" !m" !i" !e" !a" !]" !Y" !U" !Q" !M" !I" !E" !A" !=" !9" !5" !1" !-" !)" !%" !!" !" !" !" !" ! " ! " !" !" !! !! !! !! !! !! !! !! !! !! !! !! !! !! !! !! !! !! !! !! !! !! !! !! !! !! !! !! !! !! !! !! !}! !y! !u! !q! !m! !i! !e! !a! !]! !Y! !U! !Q! !M! !I! !E! !A! !=! !9! !5! !1! !-! !)! !%! !!! !! !! !! !! ! ! ! ! !! !! ! ! ! ! ! ! ! ! ! ! ! ! ! ! ! ! ! ! ! ! ! ! ! ! ! ! ! ! ! ! ! ! !} !y !u q  m  i  e  a  ]  Y  U  Q  M  I  E  A  =  9  5  1  -  )  %  !           %  %  %  % % % % % % % % % % % - - - - '- vLoading Mission from file: ./Missions/Engineering/OnDock.tl'- jTethyslAPI: loading: ./Missions/Engineering/OnDock.tl'm TethyslAPI: mission file loaded: ./Missions/Engineering/OnDock.tli ) i I = 2Acoustic response timeout%&9:@ @@ @IIO?<., i?Ang@nb@nc<ٱn<  AHRS rotation from veh to nav: [[0.383307,0.923577,0.009024],[-0.923517,0.383393,-0.011293],[-0.013890,-0.004005,0.999896]]nH@??z?r? `5r(gp$?ing@InW^;nCY%QBy%I II))-=11bD=VD=kym9<%m=ٔm59qYq=}lFyy}#=E> 2Acoustic response timeoutQ 54/?Q 94KY)OaBY!yE@Q IE @DI;i;<4ymBɮmAmlEi)iI J9Q@Q @Q@U @QIaIyO}8> 2Acoustic response timeout.,Ă?A2ʜ@2ţ@2Mٗ<ٱ26 :AHRS rotation from veh to nav: [[0.394394,0.918912,0.007309],[-0.918755,0.394461,-0.017033],[-0.018535,0.000002,0.999828]]2H@=? g?}? pf`>?q` x>?i2ʜ@I2 ^;2CY^NBy^E IiMb@Mb@Mb@ 9~jth~jt?Mbp?YDy<;@ @)Y@ ѐC}GliAbDVD 8=9liAY@yp8%1=ٔ&9Y=lFy%<E%>)Q 5U4-P0?Q 9U4-&Y)-QaBYUae @ae @ae @ae @ae @ae @ae @ae @Am Am Bm Am .,?A;ɰp<2,@2'@2<ٱ2s| :AHRS rotation from veh to nav: [[0.405357,0.914113,0.009132],[-0.913932,0.405459,-0.018214],[-0.020353,-0.000963,0.999792]]2H _?i@?`޳?> ? ɦUה`ŌOL?i2,@I2P^;2CB2Acoustic response timeoutYNLByRC IbDZVDZyfmA%fy=ٔf;Q-f?9hYh=jlFyhn0=En?YQ 5e4]0?Q 9m4] Y)]RaBYiym ?Q Im @YI]y:i]N:]4yqɮQAi)顱iII=)J>I@I @I@M @IIYIiOu>52Acoustic response timeout:.,{?A2n@2@@2j<ٱ2~%; :AHRS rotation from veh to nav: [[0.416544,0.909096,0.006015],[-0.908897,0.416579,-0.019185],[-0.019947,0.002525,0.999798]]2Hন? P?@x?=?[ m d? X?i2n@I2^;2CYNMByRD I PPbDZVDZk1yfcR;%fJ=ٔfQ-f>9hYh=jlFyhn<En>Q 5 41?Q 9 4X)TaBY y  ?Q I  @DI:i:4yɮLAi)iI92Acoustic response timeouti@q @q@} @yIIQO}7>E 2Acoustic response timeout .,?Vл?A:g@:9@:ˇ<ٱ:VLP; FAHRS rotation from veh to nav: [[0.426969,0.904257,0.004204],[-0.904115,0.426977,-0.016346],[-0.016576,0.003178,0.999858]]:HsS??8q?S?0@Dj?@?i:g@I:5^;8YNKByRA IiMb@Mb@Mb@ 9I +??MbpY99aYa=elFyae<Em>iQ 54m3?Q 94mX)mRaBYX`=Q Er2Acoustic response timeout3.,+1껼?A2nE@2@@@2@9<ٱ2f; :AHRS rotation from veh to nav: [[0.436471,0.899718,0.000356],[-0.899647,0.436441,-0.012437],[-0.011345,0.005108,0.999923]]2H$?}?TN7??hx`;@wt?]?i2nE@I2:_;2CYNPByNH IbDZVDZNy5<%5U=ٔ]iQ-]>9YYY=elFyae<Ee>iQ 5u4m`5?Q 9u4mX)mQaBYy=Q I @mDIm&;im;mG)4yɮ/Ai)iI2Acoustic response timeout gAgA;9I@I @I@M @IIYIiOu> 2Acoustic response timeout/, ?A2@2@2#;ٱ2T; :AHRS rotation from veh to nav: [[0.445288,0.895385,-0.001808],[-0.895374,0.445270,-0.006255],[-0.004795,0.004405,0.999979]]2H?@?<] N?@y[s` r??i2@I2L _;2CYWByQ IIR=)=iMb@Mb@Mb@ 9y&1|?v/?MbP?Y`;yxi=:@ @)Y@ 2Acoustic response timeout  bDVD0y%<%%=ٔ%XIQ-->9)Y)=-lFy)5՗<E5>9Q 5e4=7?Q 9e4=X)9YeBk=Q EmgQ Im @=DI=6;i=;=24yqɮuAqi)顩iI5J9:@ @@ @IIO>>!/,?A22Acoustic response timeout6۞@6ե@6^6ٱ6H%: >AHRS rotation from veh to nav: [[0.452859,0.891580,-0.001823],[-0.891578,0.452862,0.002195],[0.002783,0.000631,0.999996]]6H?Ӈ? ]`· ?`Qa?f?CD??i6۞@I6y^;4 D)DFļDDHHiJ̼IHHINَCiNr@ LL)LP RZlAR̼PPTV^lAIVj)TiT)TIZMlAZ̼X XXZvAXi\\Y\YbYBybS IbDnVDnyv:<%v=ٔvQ-z(?9xYx=zlFyx=E(?!Q 5-4%9?Q 9-4%wX)%RaBY)y->Q I5 @%DI%2:i%l:%;74yYɮ]AYii)iiqiqqI9m:@i @i@m @iIyIO>2Acoustic response timeoutDK /,U7?Aɰ;:@:@:!-ٱ:[ BAHRS rotation from veh to nav: [[0.459108,0.888368,-0.004589],[-0.888317,0.459131,0.009578],[0.010615,-0.000321,0.999944]]:H`b?m?irmgb? m?`i?`( 5?i:@I:^;:CY]ByW IbD-VD-02yS<%A=ٔsQ->9Y=lFyK<E>Q 54:?Q 94>X)Yyĵ>Q I @DI:i:>4yɮmAii)顙iII*?)c?u2Acoustic response timeout|9m:@i @i@u @qIIOF>% 2Acoustic response timeout3/,(Q?A2@@2;@2锼ٱ2Ȫf; :AHRS rotation from veh to nav: [[0.463824,0.885852,-0.011550],[-0.885741,0.463954,0.014470],[0.018177,0.003519,0.999829]]2HJ?X?@Wn?I??l??i2@@I2^;2CY~`By~[ I iMb@Mb@Mb@ 9Mb`Q?MbpYyu=3@ @)v@Y3@bD%VD%Ny5h<%@=ٔQ->9Y=lFyzH<E>Q 54}2Acoustic response timeout\/,uk?A2_@2Z@2ϼٱ2 < :AHRS rotation from veh to nav: [[0.467087,0.884001,-0.019279],[-0.883848,0.467409,0.018471],[0.025339,0.008412,0.999644]]2H?I?ؽ{H ???c:?`?i2_@I2^;2CYRjByRh IbDZVDZyf+^=%jd=ٔjũQ-j?9lY=lFy2Acoustic response timeoutU'<E>Q 54>?Q 954W)OaBY9y=?Q I= @DI% 2Acoustic response timeout,E!/,S?A2i@2d@2Eٱ2FV< :AHRS rotation from veh to nav: [[0.468088,0.883281,-0.026626],[-0.883096,0.468662,0.022307],[0.032182,0.013071,0.999397]]2H'?C?`CQB? ז? .z?@Ŋ??i2i@I2^;2CYNyByR{ IiMb@Mb@Mb@ 9X9v~jt?{GztYyD=ף@ @)@Y=@bD]VD]Jym=%m3=ٔmuQ-m>9Y=lFy5;E>Q 54??Q 94 W)MaBYj=Q Eg/o'/,.?A"2Acoustic response timeout6R^@6$Y@6Zٱ6՝< RAHRS rotation from veh to nav: [[0.466750,0.883707,-0.034743],[-0.883576,0.467645,0.024524],[0.037919,0.019252,0.999095]]6H9xYx=zlFyxzņE~?!Q 5%4%_@?Q 9-4%V)%KaBY)y-+?Q I- @%DI%:i%-:%Z4y1ɮAi)   i  I9i%>')OTethyslAPI: ./Missions/Engineering/OnDock.tl translated into: 8 2 1 5 2 2 5 5 Restarting logs restart logs ! ifconfig Mission ending, breaking off. Range: . a[#5Jo5 @'=PDefineArg OnDock.DockedTime = 8.000000 ha[#]boY'e\DefineArg OnDock.DetachedTimeout = 30.000000 sa[#}zoy'XDefineArg OnDock.RangeTimeout = 600.000000 sa[#o'hDefineArg OnDock.TrackingUpdatePeriod = 2.000000 mina[#o'^DefineArg OnDock.NumberOfPings = 1.000000 counta[#o'VDefineArg OnDock.TransponderCode = 50 counta[#o'PDefineArg OnDock.MaxDepth = 275.000000 ma[#o'RDefineArg OnDock.MinAltitude = 5.000000 ma[#o'TDefineArg OnDock.MinOffshore = 2.000000 km!@! @!@% @!I1IaOm5>a[#=o9'EHDefineArg OnDock.StayOnDock = 0 boola[#M pI'U\DefineArg OnDock.IfconfigInterval = 2.000000 ha[#p'HDefineArg OnDock.RunScience = 0 boola[#*p @'XDefineArg OnDock.MissionTimeout = 8.000000 h'~Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl'rTethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl'TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl2Acoustic response timeout'= TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into: 5 1.5 200 2000 [#U :pQ '] vDefineArg OnDock:StandardEnvelopes.MinAltitude = 5.000000 m[#e Jpa 'm |DefineArg OnDock:StandardEnvelopes.MaxDepthIgnore = 1.500000 m[#u Zpu i@'} tDefineArg OnDock:StandardEnvelopes.MaxDepth = 200.000000 m[# jp ' |DefineArg OnDock:StandardEnvelopes.MinOffshore = 2000.000000 m 6Construct AltitudeEnvelope. 0Construct DepthEnvelope. 6Construct OffshoreEnvelope.a\ 'E xInserting Stack from file: Missions/Insert/BackseatDriver.tl'M lTethyslAPI: loading: Missions/Insert/BackseatDriver.tl'U TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tlk-/, ?A2GA@2<@2)ٱ2{< :AHRS rotation from veh to nav: [[0.463551,0.885171,-0.039900],[-0.885103,0.464678,0.025808],[0.041385,0.023352,0.998870]]2H`Ѫ? SS?m@RJ?Rm?d0???i2GA@I2^;2CYNByN IbDZVDZJy}Y<%}A=ٔ}dQ->9Y=lFya E>Q 54^A?Q 94 V)HaBYy?Q I @DI# ]#q'nDefineArg OnDock:BackseatDriver.EnableBackseat = 0 bool2Construct BackseatDriver.'nInserting Stack from file: Missions/Insert/PowerOnly.tl'bTethyslAPI: loading: Missions/Insert/PowerOnly.tl'zTethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tlU2Acoustic response timeout]9@ @@ @I1IYOu6> G%hA9e3X9ehAYmDA' qTethyslAPI: Missions/Insert/PowerOnly.tl translated into: 99999 !^# r ' ZDefineArg OnDock:PowerOnly.SampleAll = 0 bool!^# *r ' ^DefineArg OnDock:PowerOnly.SampleLoad1 = 0 bool!^# :r '% ^DefineArg OnDock:PowerOnly.SampleLoad2 = 0 bool!^#- Jr) '5 ^DefineArg OnDock:PowerOnly.SampleLoad3 = 0 bool!^#= br9 'E hDefineArg OnDock:PowerOnly.EnabledPowerOnly = 0 bool} Construct Wait. Construct Wait.' jInserting Stack from file: Missions/Insert/Science.tl' ^TethyslAPI: loading: Missions/Insert/Science.tl' vTethyslAPI: mission file loaded: Missions/Insert/Science.tl 2Acoustic response timeout4/,qҼ?A4<ɰp;2^@20 @26*ٱ2< >AHRS rotation from veh to nav: [[0.458036,0.888086,-0.038803],[-0.887957,0.459142,0.026837],[0.041649,0.022164,0.998886]]2HwP?3k?@ޣ@%jb?{?`S?`??i2^@I2R^;2CYNByN IieMb@Mb@Mb@aaaa a9e333333/$?MbpYeye9Y=lFypE>!Q 5-4%@?Q 9-4%1U)%FaBY-=Q E-*}2Acoustic response timeoutf:/,Q켼?A69ɞ@6 ĥ@6g_ٱ69< >AHRS rotation from veh to nav: [[0.450601,0.891980,-0.036474],[-0.891940,0.451542,0.023505],[0.037436,0.021941,0.999058]]6H?@?Ɗ`?@?@*?w?H?i69ɞ@I6^;6CYNByR I PP TVp<bDZVDZJyv-z=%vZ=ٔv@89xYx=zlFyxzE~>qQ 54uV@?Q 94umT)uCaBYy?Q I @uDIu;iu@;uo4yɮAi)iI2Acoustic response timeout 9I@I @I@M @IIYIiOu> 2Acoustic response timeout|A/,?A6Ip@6k@6_ٱ6P< BAHRS rotation from veh to nav: [[0.441007,0.896979,-0.030683],[-0.897016,0.441636,0.017873],[0.029582,0.019641,0.999369]]6Ht9? ?dk[C?>M?@J??`?i6Ip@I6^;4YJByJ IiMb@Mb@Mb@ 9 ףp= 91Y1=5lFy15eǼE=>9Q 5E4=>?Q 9M4=S)=>aBY==Q EfG/,v ?A"2Acoustic response timeout6@@6 @60Fٱ6< BAHRS rotation from veh to nav: [[0.430572,0.902256,-0.023261],[-0.902357,0.430875,0.009898],[0.018953,0.016727,0.999680]]6H~?H?їv?E?yh? ?a?i6@@I6^;6CYNByR IbDXVDXyf=%fb=ٔf49hYh=jlFyhn!En>Q 5 4=?Q 9 4R):aBY y @Q I  @DIB:i9:}4yɮmAi)iI >9i@i @i@m @iIyIO>2Acoustic response timeoutM/,3R:?A2d@26@2 Sٱ209; :AHRS rotation from veh to nav: [[0.418495,0.908192,-0.007105],[-0.908184,0.418534,0.005484],[0.007954,0.004157,0.999960]]2H??}D? vv? VJ?`q??i2d@I2'^;2CYNByR IIR=)RbDZVDZkyfݷ<%fJ=ٔf9hYh=jlFyhnE~>Q 5 4r 2Acoustic response timeouthT/,,T?A6@6@6xd;ٱ6ۻ >AHRS rotation from veh to nav: [[0.403337,0.915021,0.007543],[-0.915045,0.403351,-0.000485],[-0.003486,-0.006707,0.999971]]6HD?@G?~? H?x?`l@x{ ?i6@I6^;6CYNByR Ii%Mb@Mb@Mb@!!!! !9%EԸL7A`堿MbpY%ƽy%+%%v@%@ %I@)!!Y%@bDaVDaym;%2=ٔ9Y=lFyoE>Q 549?Q 94P)4aBY=Q E>e2Acoustic response timeoutZ/,n?A;ɰ4<2܏@2@2V<ٱ2ǻ :AHRS rotation from veh to nav: [[0.387786,0.921668,0.012233],[-0.921592,0.387931,-0.013341],[-0.017041,-0.006100,0.999836]]2H|?@N~?`u ?@}?R`Sscx?i2܏@I2^;2CYNByR IbDVVDVNy%~%%b=ٔ%=Q-%>9)Y)=-lFy)-AE5>2Acoustic response timeout1Q 5457?Q 945>P)1Yy@Q I% @5DI5:i5:5 4y)ɮ-A)i)iII-u?)-o?m9:@ @@ @IIOB>m 2Acoustic response timeouta/,s?AR @R@RON<ٱR@S: ZAHRS rotation from veh to nav: [[0.372532,0.927957,0.010729],[-0.927508,0.372686,-0.028876],[-0.030794,0.000805,0.999525]]RH?ӱ?@T?% ? dJ??iR @IR^;RCYBy I i=Mb@Mb@Mb@9999 99=:vQMb`?Y=Ty=u=;=@=@ =@)=3@9Y=@ m;m4<bDuVDuky %5=ٔ*9Y=lFybE>Q 544?Q 94O)5aBYE=Q EE' h/,á?A2Acoustic response timeout6@6Q~@6O/=ٱ6z; BAHRS rotation from veh to nav: [[0.357117,0.933986,0.011724],[-0.933079,0.357289,-0.041327],[-0.042788,0.003820,0.999077]]6H?`6??` ?(E西 BJo?p?i6@I6_;6CYNByN IbDZVDZN2yb*p%fl=ٔf =Q-f?9dYh=jlFyhjODEj?|Q 54~2?Q 94~O)~7aBY y 2@Q I  @~DI~:i~:~ 4yɮ5A9iI)IIIiIQIQ-9@ @@ @IIO )>2Acoustic response timeout5n/, ?A2-@2@26&M=ٱ2T :AHRS rotation from veh to nav: [[0.341770,0.939567,0.020172],[-0.938449,0.342349,-0.045934],[-0.050064,-0.003232,0.998741]]2H?@?`? ?@ yj ?i2-@I2C^;2CY^Byb IbDjVDj:yv)%vH=ٔvB9xYx=zlFyxzb#E~>!Q 5-4% 0?Q 9-4%cO)%9aBY)y-1@Q I- @%DI%:i%:%-4y1ɮAi )   i 52Acoustic response timeoutI II-9:@! @!@% @)I9IQO]v> 2Acoustic response timeoutu/,yvս?A2抚@2@2 D\=ٱ22i :AHRS rotation from veh to nav: [[0.328467,0.944281,0.021040],[-0.942985,0.329121,-0.049588],[-0.053750,-0.003552,0.998548]]2H`?7?q? ,`S?`cm ?i2抚@I2^;0YN{ByN| IIR4=)R4=iMb@Mb@Mb@ 9:v?Mb~jth?Y9AYA=EmFyAEEE>IQ 54M1.?Q 94MO)IY=Q E?E2Acoustic response timeoutG{/,Pシ?A2#@2@2Q=ٱ2 :AHRS rotation from veh to nav: [[0.316628,0.948312,0.021236],[-0.947168,0.317295,-0.046873],[-0.051189,-0.005273,0.998675]]2HC?X?ܾ?2ON?g5u`%?i2#@I2^;2CYNkByNi IbDZVDZ yf%fe=ٔfbQ-f>9hYh=jmFyhn<En>'zTethyslAPI: Missions/Insert/Science.tl translated into: NaN 3 100 80 20 5 NaN NaN 2.0 NaN NaN 0 1 NaN NaN 5 0 0 0 0 NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN PeakDetectVsDepth PeakChlAvgProfiles = . PeakChlDepthAvgProfiles = EdgeDetectVsDepth GoDown, ChlPeakThresh, PeakChl, PeakChlDepth, EdgeChl, EdgeChlDepth = , , , , , PeakDetectHorizontal PeakDetectVsDepth PeakDetectVsDepth PeakDetectVsDepth PeakDetectVsDepth PeakDetectVsDepth _.planktivore_LM_AvgRois EdgeDetectVsDepth _.planktivore_LM_AvgRois GoDown, PlanktivoreLMavgROIPeakThresh, PeakPlanktivoreLMavgROI, PeakPlanktivoreLMavgROIDepth, EdgePlanktivoreLMavgROI, EdgePlanktivoreLMavgROIDepth = , , , , , PeakDetectVsDepth _.planktivore_HM_AvgRois EdgeDetectVsDepth _.planktivore_HM_AvgRois GoDown, PlanktivoreHMavgROIPeakThresh, PeakPlanktivoreHMavgROI, PeakPlanktivoreHMavgROIDepth, EdgePlanktivoreHMavgROI, EdgePlanktivoreHMavgROIDepth = , , , , , PeakDetectVsDepth _.planktivore_diatoms EdgeDetectVsDepth _.planktivore_diatoms GoDown, PlanktivoreDiatomsPeakThresh, PeakPlanktivoreDiatoms, PeakPlanktivoreDiatomsDepth, EdgePlanktivoreDiatoms, EdgePlanktivoreDiatomsDepth = , , , , , PeakDetectVsDepth _.planktivore_dinoflagellates EdgeDetectVsDepth _.planktivore_dinoflagellates 0=ٱfY rAHRS rotation from veh to nav: [[0.306716,0.951564,0.021258],[-0.950831,0.307335,-0.038278],[-0.042957,-0.008472,0.999041]]fH=?5s?ĕ?5ma? lY%?ifK͙@If^;fC!a9YׇAYTByM I`}$t'DefineArg OnDock:science:Science.LowPassWindowLength = 20.000000 count`$t'DefineArg OnDock:science:Science.MedianFilterLen = 5.000000 count`$t'jDefineArg OnDock:science:Science.ShallowBound = nan m`$%t!'dDefineArg OnDock:science:Science.DeepBound = nan m`$t'DefineArg OnDock:science:Science.DepChangeThreshForAttitudeFlip = 2.000000 ma@a a@a a@a a@a `$t'DefineArg OnDock:science:Science.OffPeakFractionVerticalAscent = nan %`$t'DefineArg OnDock:science:Science.OffPeakFractionVerticalDescent = nan %bD-VD-0y5D%5(=ٔ=7Q-=>`$e ua'm|DefineArg OnDock:science:Science.ChlPeakThresh = 0.000000 ug/l`$uuq'}DefineArg OnDock:science:Science.NumberOfLayers = 1.000000 count99Y=mFyE>Q 54k*?Q 94P);aBQ A+:YQ E&4yɮAi)iI!I-y?)-?`$M*uI'UDefineArg OnDock:science:Science.ChlThreshTriggerActive = 0 bool`$u:uq2Acoustic response timeout'tDefineArg OnDock:science:Science.ChlLowerThresh = nan ug/l`$Ju'tDefineArg OnDock:science:Science.ChlUpperThresh = nan ug/l`$Zu' DefineArg OnDock:science:Science.NumProfilesThresh = 5.000000 count9`$ju'DefineArg OnDock:science:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s`$zu'DefineArg OnDock:science:Science.PlanktivoreHMavgROIPeakThresh = 0.000000 count/s`$u'DefineArg OnDock:science:Science.PlanktivoreDiatomsPeakThresh = 0.000000 count/ml`$%u!'-DefineArg OnDock:science:Science.PlanktivoreDinoflagellatesPeakThresh = 0.000000 count/ml`$}uy'fDefineOutput OnDock:science:Science.GoDown = 1 bool@ @@ @IIOb>`$u'lDefineOutput OnDock:science:Science.PeakChl = nan ug/l`$u'pDefineOutput OnDock:science:Science.PeakChlDepth = nan m`$u'%DefineOutput OnDock:science:Science.PeakChlTemperature = nan degC`$mui'uDefineOutput OnDock:science:Science.PeakChlLatitude = nan arcdeg`$}uy'DefineOutput OnDock:science:Science.PeakChlLongitude = nan arcdeg`$v'DefineOutput OnDock:science:Science.PeakChlAvgProfiles = nan ug/l`$v'-DefineOutput OnDock:science:Science.PeakChlDepthAvgProfiles = nan m`$5"v1'=lDefineOutput OnDock:science:Science.EdgeChl = nan ug/l`$e2va'upDefineOutput OnDock:science:Science.EdgeChlDepth = nan m`$}Bvy'DefineOutput OnDock:science:Science.EdgeChlTemperature = nan degC`$Rv'DefineOutput OnDock:science:Science.EdgeChlLatitude = nan arcdeg`$bv'DefineOutput OnDock:science:Science.EdgeChlLongitude = nan arcdeg`$rv'pDefineOutput OnDock:science:Science.PeakNO3 = nan umol/l`$e va 'm pDefineOutput OnDock:science:Science.PeakNO3Depth = nan m`$u vq ' DefineOutput OnDock:science:Science.PeakNO3Latitude = nan arcdeg`% v ' DefineOutput OnDock:science:Science.PeakNO3Longitude = nan arcdeg`% v ' nDefineOutput OnDock:science:Science.PeakOil = nan kg/m3` % v ' pDefineOutput OnDock:science:Science.PeakOilDepth = nan m` %% v! '- DefineOutput OnDock:science:Science.PeakOilLatitude = nan arcdeg`%5 v1 '] DefineOutput OnDock:science:Science.PeakOilLongitude = nan arcdeg`%e va 'm lDefineOutput OnDock:science:Science.PeakFDOM = nan ppb`% w ' rDefineOutput OnDock:science:Science.PeakFDOMDepth = nan m`% w ' DefineOutput OnDock:science:Science.PeakFDOMTemperature = nan degC`!% "w ' DefineOutput OnDock:science:Science.PeakFDOMLatitude = nan arcdeg`%% 2w 'm DefineOutput OnDock:science:Science.PeakFDOMLongitude = nan arcdeg`)%} Bwy ' lDefineOutput OnDock:science:Science.PeakSalt = nan psu`-% Rw ' rDefineOutput OnDock:science:Science.PeakSaltDepth = nan m`1% bw ' DefineOutput OnDock:science:Science.PeakSaltTemperature = nan degC`5%% rw! U 2Acoustic response timeout_^/,#?A2@2@2><ٱ2Tۻ >AHRS rotation from veh to nav: [[0.299456,0.953981,0.015683],[-0.953605,0.299792,-0.027599],[-0.031031,-0.006690,0.999496]]2H I*???@/?CƟ@1g{ ?i2@I2J^;2CYJ8ByJ* I LLbDVVDVJyn.%n{=ٔnQ-n?9pYp=rmFypr%ȼEv ?tQ 54v(?Q 94vJQ)v`Y%x'DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROITemperature = nan degC`]%x'DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg`a%"x'DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg`e%2x'DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROI = nan count/s`i%Bx'DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROIDepth = nan m`m%Rx' DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROITemperature = nan degC`q%ubxq'}DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg`u%rx'DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg`y%x'DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROI = nan count/s`}%x'DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROIDepth = nan m`%x' DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROITemperature = nan degC`%x'DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROILatitude = nan arcdeg`%x'DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROILongitude = nan arcdeg`%x'DefineOutput OnDock:science:Science.PeakPlanktivoreDiatoms = nan count/ml`%%x!'EDefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsDepth = nan m2Acoustic response timeout`%x'DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsTemperature = nan degC`%y'DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg`%y'DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg`%-"y)'5DefineOutput OnDock:science:Science.EdgePlanktivoreDiatoms = nan count/ml`%=2y9'DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsDepth = nan m`%By'DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsTemperature = nan degC`%Ry'DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsLatitude = nan arcdeg`%by'% DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsLongitude = nan arcdeg`%- ry) '5 DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellates = nan count/ml`%} y ' DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesDepth = nan m`% y ' DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC`% y ' DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg`% y ' DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg`% y ' DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellates = nan count/ml`% y '= DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesDepth = nan m`%E yI 'U DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesTemperature = nan degC`%} yy ' DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesLatitude = nan arcdeg`% z ' DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesLongitude = nan arcdeg`% z ' nDefineOutput OnDock:science:Science.PatchChl = nan ug/l`% "z ' rDefineOutput OnDock:science:Science.PatchChlDepth = nan m`% 2z '5 DefineOutput OnDock:science:Science.PatchChlLatitude = nan arcdeg`%= Bz9 'E DefineOutput OnDock:science:Science.PatchChlLongitude = nan arcdeg`%M RzI '} xDefineOutput OnDock:science:Science.PatchChlDistance = nan m`% bz ' nDefineOutput OnDock:science:Science.PatchSalt = nan psu`% rz ' tDefineOutput OnDock:science:Science.PatchSaltDepth = nan m`% z ' DefineOutput OnDock:science:Science.PatchSaltLatitude = nan arcdeg`% z '% DefineOutput OnDock:science:Science.PatchSaltLongitude = nan arcdeg`&E zA "/,AHRS rotation from veh to nav: [[0.294963,0.955426,0.012589],[-0.955362,0.295123,-0.013629],[-0.016737,-0.008007,0.999828]]2H? ْ?Aȉ?SJ?k鋿f#`f?i2?f@I2^;2CYN'ByN IbDZVDZ벝'zDefineOutput OnDock:science:Science.PatchSaltDistance = nan my͛%==ٔQ->9Y=mFy6E>`&z'lDefineOutput OnDock:science:Science.PatchOil = nan psu` &z' rDefineOutput OnDock:science:Science.PatchOilDepth = nan mQ 54 '?Q 94Q)>aBQ A9YQ E;y$Q I @DI&b"b"e 8Construct PeakDetectVsDepth.M8Construct EdgeDetectVsDepth.M >Construct PeakDetectHorizontal. 2Acoustic response timeout ΅ >Construct PeakDetectHorizontal. 8Construct PeakDetectVsDepth.l/,V?A2%U@2O@2:ٱ2Px >AHRS rotation from veh to nav: [[0.293009,0.956065,0.009205],[-0.956109,0.293009,0.001307],[-0.001448,-0.009184,0.999957]]2H??ڂ?@q?AiU?`!W@΂@?i2%U@I2^;2CYN ByNIaa aa aa aa iMb@Mb@Mb@ 9~jt?V-Y>y@@ )YbDVD1y\%E=E8Construct PeakDetectVsDepth.ٔUQ-U>9YYY=]mFyYeEe>iQ 54m'?Q 94mS)iQ AT:Yt>Q E;y Q I @mDIm;iml;m34yɮAi)项iI  ӕ>Construct PeakDetectHorizontal. !9]8Construct PeakDetectVsDepth.:@ @@ @IIO>>=2Acoustic response timeout8Construct PeakDetectVsDepth. ح>Construct PeakDetectHorizontal.8Construct PeakDetectVsDepth. 8Construct EdgeDetectVsDepth. 8Construct PeakDetectVsDepth. 8Construct EdgeDetectVsDepth./,p?A2\@2cW@2$jٱ2 :AHRS rotation from veh to nav: [[0.293845,0.955844,0.004188],[-0.955746,0.293744,0.016238],[0.014291,-0.008774,0.999859]]2H[?F?`'q?@y??YD?[ ?i2\@I23^;2CYNByRITTbDZVDZ:2yǽ%%[=ٔ%0Q-%>9)Y)=-mFy)-";E5>}2Acoustic response timeout1Q 545+(?Q 945T)5?aBYyQ I @5DI5:i5:54yɮAi)i1I1e8Construct PeakDetectVsDepth.09>i>8Construct EdgeDetectVsDepth.:@ @@ @IIO!> 8Construct PeakDetectVsDepth. }8Construct EdgeDetectVsDepth. u,Construct ValueDetect. $Construct Execute. %$Construct Execute.-Construct Wait. =Construct. =dInitializing internal variables to default values.!xyConstruct.dInitializing internal variables to default values.- 2Acoustic response timeout' a< # Copyright (c) 2024 MBARI # MBARI Proprietary Information. Confidential. All Rights Reserved # Unauthorized copying or distribution of this file via any medium is strictly # prohibited. # # WARNING - This file contains information whose export is restricted by the # Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as # amended. Violations of these export laws are subject to severe civil and/or # criminal penalties. mission { """ Wait on dock, communicating when possible """ arguments { DockedTime = 8 hour """ Time to stay on dock. Mission timeout will be five minutes longer. """ DetachedTimeout = Dock:Docked.detachTimeout """ Time duration limit for determining if the vehicle is detached from the dock. """ RangeTimeout = Dock:Docked.rangeTimeout """ Maximum allowed time without acoustic range. """ TrackingUpdatePeriod = 2 minute """ How long to wait between acoustic queries. """ NumberOfPings = 1 count """ Number of pings requested each time. """ TransponderCode = Dock:Dock.transponderCode """ Transponder Address. """ MaxDepth = BIT:CBIT.stopDepth """ Maximum depth while docked. """ MinAltitude = 5 meter """ Minimum altitude """ MinOffshore = 2 km """ Minimum offshore """ StayOnDock = false """ If true, don't detach from dock at end of mission """ IfconfigInterval = 2 hour """ How long to wait between ifconfig runs """ RunScience = false """ If true, run Science while on the dock. """ # Mission variables (do not change) MissionTimeout = DockedTime """ Mission timeout (local variable, do not change) """ } timeout duration=MissionTimeout insert Insert/StandardEnvelopes.tl assign in sequence StandardEnvelopes:MinAltitude = MinAltitude assign in sequence StandardEnvelopes:MaxDepth = MaxDepth assign in sequence StandardEnvelopes:MinOffshore = MinOffshore # End docking 5 minutes before end of mission to allow clean undock assign in sequence MissionTimeout = DockedTime + 5 minute insert Insert/BackseatDriver.tl insert Insert/PowerOnly.tl # Send data when connection exists aggregate dataRead { run while ( true ) readDatum { Universal:platform_communications } behavior Guidance:Wait { run in sequence set duration = 5 minute } } aggregate science { run in parallel break if ( not RunScience ) insert Insert/Science.tl } behavior Estimation:TrackAcousticContact { run in parallel set contactLabelSetting = TransponderCode set numberOfSamplesSetting = NumberOfPings set updatePeriodSetting = TrackingUpdatePeriod } syslog important "Restarting logs" behavior Guidance:Execute { run in sequence set command = "restart logs" } aggregate PeriodicCheck { run in parallel aggregate CheckIP { run in sequence behavior Guidance:Execute { run in sequence set command = "! ifconfig" } behavior Guidance:Wait { run in sequence set duration = IfconfigInterval } } } behavior Dock:Docked { run in sequence timeout duration=DockedTime set detachTimeout = DetachedTimeout set rangeTimeout = RangeTimeout } # Undock cleanly, instead of relying on DefaultWithUndock to come next aggregate Detach { run in sequence break if ( StayOnDock == true ) syslog important "Mission ending, breaking off. Range: " + Estimation:TrackAcousticContact.range_to_contact~meter + "." behavior Dock:Undock { run in sequence } } } = bLoaded ./Missions/Engineering/OnDock.tl id=OnDock݁/,+?A }@ x@ .7ٱ r EAHRS rotation from veh to nav: [[0.297610,0.954680,-0.003778],[-0.954214,0.297585,0.030300],[0.030051,-0.005413,0.999534]] H ?༌?n ?@? Ş?`+v .?i }@I S^; CYByIiMb@Mb@Mb@ 9ʡE?~jt?MbPY-2>yD<@ @)I@Y@bDVDk1yE딼%M,=ٔMQ-M>9IYQ=UmFyQU <EU>YQ 54]*?Q 94]W)]AaBY2>Q E;yQ I @]DI];i]u;]4yɮA'BStarted mission DefaultWithUndockK)NAggregate::initialize DefaultWithUndock1 *4Initialize Wait Component.i)iI2Acoustic response timeoutP9:@ @@ @IIOf>5 2Acoustic response timeout֧/,M?Aɰ;>@>@>S>ٱ> 9 FAHRS rotation from veh to nav: [[0.302883,0.952921,-0.014237],[-0.951891,0.303217,0.044309],[0.046540,0.000131,0.998916]]>Hob?U~?`(ug? ? ԧ? z4!??i>@I>_;>CY^By^IbDjVDj:2y~*m%y=ٔMQ-?9 Y = mFy  <E?Q 5=4z,?Q 9E4hX)CaBYAyEϘQ IE @ DI;i:4yIɮUAQi)iIIs?)3?I@I @I@M @IIYIiOu>2Acoustic response timeoutѮ/,(?A2@2`@2:ٱ2$; >AHRS rotation from veh to nav: [[0.310354,0.950293,-0.024961],[-0.948513,0.311307,0.058411],[0.063278,0.005547,0.997981]]2H?h?P 7Zs??3?v?t?i2@I2p_;2CYNByPbDZVDZ0yR%K=ٔ(Q-%>9!Y!=%mFy!-<E->1Q 5]45.?Q 9]45#Z)5GaBYYy]Q Ie @5DI5;i5;54yiɮmAii)顡iI2Acoustic response timeoutq9:@ @@ @IIO> 2Acoustic response timeout/,dؾ?A2@@2;@2pٱ2F,< :AHRS rotation from veh to nav: [[0.319418,0.946972,-0.034877],[-0.944417,0.321146,0.070301],[0.077774,0.010483,0.996916]]2HYq?M?aۡ8঍?@??? x?`?i2@@I2%^;2CYNByRIiMb@Mb@Mb@ 9l?L7A`?~jth?Y>y+=D;I@@ v@)@Y=@bDVD:y<%;=ٔQ->9Y=mFy!%c<E%>)Q 5U4-1?Q 9U4-[)-NaBYUM>Q E];y]!Q I] @-DI-i;i-%;-\4yeBɮeAemEi)顙iIa@a @a@e @aIqIO?>2Acoustic response timeout/,U?A@2@2T@2εٱ2< :AHRS rotation from veh to nav: [[0.330243,0.943124,-0.038175],[-0.939723,0.332312,0.080552],[0.088657,0.009272,0.996019]]2H"?.?`6D??9?s?`c?i2@I2^;2CYNByRIbDTVDTyR<%[=ٔQ->9 Y = mFy  %=E>Q 5=44?Q 9E4\)TaBYAyEQ IE @DI;i:4yIɮUAQe2Acoustic response timeouti)19i99IA IMeAM9:@ @@@IIO%> 2Acoustic response timeout/, ?A3@@Yٱ}M< AHRS rotation from veh to nav: [[0.343464,0.938146,-0.043758],[-0.934569,0.346016,0.082789],[0.092809,0.012459,0.995606]]HP?J?ig%?1?@\·?R??i3@IQ^;CYByIiMb@Mb@Mb@ 9Dl?:v?MbP?YO=yT=:`@@ A)@Y@bD5VD51ya=%&=ٔ Q->9Y=mFyS<E>Q 547?Q 94t])XaBY=Q E 2Acoustic response timeout/,%?A2b@24@2Dٱ2UY< :AHRS rotation from veh to nav: [[0.358914,0.932285,-0.045006],[-0.928970,0.361483,0.079654],[0.090529,0.013221,0.995806]]2Hs?G? "?`.d?@,? b??i2b@I2_;0Yj(Byj IbDrVDrNy%<>%%~=ٔ-;Q-- ?9)Y1=5mFy15sR=E5 ?AQ 5M4E9?Q 9M4E])E[aBYIyM Q IU @EDIE:iE|:E4yɮsAi)项iII@I @I@M @IIYIiOu>}2Acoustic response timeout/,o??Aɰ28@23@2`騽ٱ2!L< :AHRS rotation from veh to nav: [[0.376760,0.925327,-0.042676],[-0.922640,0.378966,0.071553],[0.082383,0.012417,0.996523]]2H`?`H?@٥E@?@NQ? ?m??i28@I2^;2C2Acoustic response timeoutE8GYqP9Y AY@By4 IbDVD yP=%%=ٔ-^9Y=mFyn<E>1Q 5=45=?Q 9=45^)5_aBY9y=Q IE @5DI5:i59:5 4yIɮMAIi)项iII?)? 9 i !> 2Acoustic response timeout @  @ @ @ I I! O- > /,'LY?A2Fڜ@2գ@2֗ٱ2lP< :AHRS rotation from veh to nav: [[0.395239,0.917600,-0.042389],[-0.915940,0.397179,0.057469],[0.069569,0.016112,0.997447]]2HK? \?aOak?l?@Kϱ?@??i2Fڜ@I2^;0 @)BVlABGa@@DFElAiFTIDDIJ̎CiH HH)HH JAlAN/]LLLNElAIRGa)PiP)PIR9lAR/]RMF TTTTiTTYXYnrBynr Ii}Mb@Mb@Mb@yyyy y9}/$V-?Mb`Y},y}h=}}@y }hA)}p@yY}=@bDVD:y>%=ٔ5J=Q-+?9Y=mFya=E:?Q 54=?Q 9 4(^)^aBY=Q E =U Rgot command set OnDock.DockedTime 24 hour3/,-s?AJo}@=Ngot command run=VRunning TTJ2u@Jp@JbٱJJg< bAHRS rotation from veh to nav: [[0.412861,0.910095,-0.035682],[-0.909122,0.414160,0.044381],[0.055169,0.014116,0.998377]]JH@Ql?? D@?@??? ??iJ2u@IJh^;JCiYIY]2Acoustic response timeoutYeBye IbDVDy=%^=ٔ =Q->9Y=mFyUBJ=EU>YQ 5e4]??Q 9e4]z])]]aBYayeu?Q Ie @]!DI]B:i][:]4yɮsA)RAggregate::uninitialize DefaultWithUndock1 *8Uninitialize Wait Component.',Started mission OnDockKq[8Aggregate::initialize OnDock[ \Aggregate::initialize OnDock:StandardEnvelopes[JInitialize AltitudeEnvelopeComponent.1\ DInitialize DepthEnvelopeComponent.q\JInitialize OffshoreEnvelopeComponent.] VAggregate::initialize OnDock:BackseatDriver]1^ LAggregate::initialize OnDock:PowerOnlyq^^^1_q_4Initialize Wait Component._ JAggregate::initialize OnDock:dataRead_q`HAggregate::initialize OnDock:science` XAggregate::initialize OnDock:science:Science`1aqaaa1bqb1c tAggregate::initialize OnDock:science:Science:PeakDetectChlqcdtAggregate::initialize OnDock:science:Science:EdgeDetectChl1e1f Aggregate::initialize OnDock:science:Science:HighestChlPeakReportqfInitialize.f Aggregate::initialize OnDock:science:Science:PeakDepthAvgProfilesChlfqgtAggregate::initialize OnDock:science:Science:PeakDetectNO3g qh  tAggregate::initialize OnDock:science:Science:PeakDetectOilh qi Aggregate::initialize OnDock:science:Science:HighestOilPeakReportiInitialize.ivAggregate::initialize OnDock:science:Science:PeakDetectFDOM1jj~Aggregate::initialize OnDock:science:Science:PeakDetectSalinity1kkAggregate::initialize OnDock:science:Science:HighestSaltPeakReport1lInitialize.ql%%Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreLMavgROIl%qm%%Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreLMavgROIm%n% %Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreHMavgROIn%o% UAggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreHMavgROIoUpUUAggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreDiatoms1q]q]]Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreDiatoms1r]1s] ]Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreDinoflagellatesqs]1t] ]Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellatesqtequeezAggregate::initialize OnDock:science:Science:ChlThreshTriggerueeInitialize.be ōrAggregate::initialize OnDock:science:Science:OceanCurrentbō?=y?A~ɹ?"~ɹ?:~ɹG@R~ɹn]0*?]5+?b[?B~ɹ?ʓ# ?UnU@>'@>lpٱ> JAHRS rotation from veh to nav: [[0.443213,0.896350,-0.010894],[-0.895959,0.443342,0.026535],[0.028614,-0.002000,0.999588]]>H]?`?@O _?+?`M?`a`?xi>U@I>^;>CYBy II=)C=iMb@Mb@Mb@ 9㥛 ¿L7A`?MbpYy+= v@)@YbDVD02yc=%<ٔMd9IYI=UmFyQU=EUR>YQ 5e4]??Q 9m4]Y)]VaBYm$>Q Em;ymw?Q Iu @]*DI];i]w;](4yyɮ}Ayq0q@\1]i)顩iI!%9Q@Y @Y@] @YIiIyOZ>52Acoustic response timeoutQy J/,:?A2@2R@2ٱ2. :AHRS rotation from veh to nav: [[0.455351,0.890296,-0.005253],[-0.890171,0.455376,0.015129],[0.015862,-0.002213,0.999872]]2H@x$?O}?u@G|$?5?@>?@!b?i2@I2H^;2CY^˂By^ I 9f f bDjVDj0yvV{>%vr=ٔvM =Q-v ?9xYx=zmFyxz)=E~ ?Q 5 4>?Q 9 4X)TaBY y 8?Q I @-DI/:i:^.4yɮ]Aq)1]-q]5iQ)QQQiQԙI2Acoustic response timeoutE9Q@Q @Y@e @aԁIIO>M 2Acoustic response timeout v/,uۿ?A:S@:N@:iٱ:: FAHRS rotation from veh to nav: [[0.465955,0.884804,-0.002879],[-0.884801,0.465962,0.002518],[0.003570,0.001374,0.999993]]:H 6?OP?g@JPS?d?>m?wV??i:S@I:>^;:CYNقByN Ii-Mb@Mb@Mb@)))) )9-Q˿X9v?y&1|Y-(\y-}=-`-v@-@ -I@)-3@)Y-@bD]VD]0ym=%mB=ٔm$9qYq=umFyq}!<E}>Q 54J=?Q 94V)PaBY>e>Q Em;y(?Q I @3DI;i,;54yɮA1qU*@q]UvUia)aaiiiIIh?)v?mi9Iq)q:@ @@@II!O5->Y2Acoustic response timeoutԉԱ ʞ/,?A2œ@2@22c<ٱ2}; :AHRS rotation from veh to nav: [[0.473796,0.880634,-0.000299],[-0.880598,0.473774,-0.009267],[-0.008019,0.004654,0.999957]]2H`R? (.?3-NR?`uZl s??i2œ@I2_^;2CYnByn!I ttbDx2Acoustic response timeoutVDxyM=%P=ٔ09Y=mFy%<E%>)Q 554-;?Q 954-S)-NaBY1y5L?Q I= @-9DI-w;i-~;-<4yQɮUWAQ=eRestarting logsveveiy)顁iIԑe9:@ @@ @IIO">2Acoustic response timeout ȉ0,?AuŸ@G@<ٱH; AHRS rotation from veh to nav: [[0.477774,0.878472,0.004316],[-0.878279,0.477763,-0.019174],[-0.018906,0.005370,0.999807]]Hؓ?q?,q?`? =\``u?j?iuŸ@Iֹ^;CYBy !IiMb@Mb@Mb@ 9tVο~jt?~jtxYryD=Ļ@@ @)@Y(@bDVD:y <%1=ٔ9Y=mFyG#<E>Q 548?Q 94 Q)Yw>Q E[;y??Q I @@DI=;i{;D4yɮGA